GLIO2: A GPU-Parallelized Tightly-Coupled LiDAR-Inertial-GNSS System for Robust and Real-Time Global Localization and Mapping
GLIO2 is a unified system fusing LiDAR, Inertial Measurement Unit (IMU), and raw GNSS data using a factor graph approach for robust localization in degraded environments. It uses a GPU-parallel front-end for real-time processing and an offline batch optimization back-end to achieve high accuracy, even when LiDAR data is poor or GNSS signals are unreliable.