Qishu Wu

LHMM: A Tightly-Coupled LiDAR-Inertial Hybrid-Map Matching Approach for Robust and Efficient Global Localization

LiDAR map matching (LMM) faces two key challenges: the enormous number of point clouds imposes constraints on storage and computation, and traditional two-stage frameworks suffer from initial guess errors during degeneration. This paper presents LHMM, a hybrid-map framework that first compresses the