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Robust tightly coupled MLS–ALS fusion with 2D and 3D LiDAR using local geometric uncertainty for accurate 3D mapping
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DOI：10.1016/j.srs.2026.100449.png)
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Abstract
En 中文
• Tightly coupled fusion of 2D and 3D LiDAR for improved 3D mapping. • Unified MAP framework fuses IMU, LiDAR, GNSS-INS, and ALS priors. • Data-adaptive MLS–ALS fusion reduces drift and improves map completeness.
Keywords:
Sensor fusion
Airborne laser scanning (ALS)
Mobile laser scanning (MLS)
Remote sensing
Maximum a posteriori (MAP)
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