PolyU-TASLAB / GLIO2

# GLIO2
### GLIO2: A GPU-Parallelized Tightly-Coupled LiDAR–Inertial–GNSS System for Robust and Real-Time Global Localization and Mapping
### 📢 News
- 📄 **2026-10-08**: Paper released on arXiv.
### 📄 Related Papers
- GLIO2: A GPU-Parallelized Tightly-Coupled LiDAR–Inertial–GNSS System for Robust and Real-Time Global Localization and Mapping
- GLIO: Tightly-Coupled GNSS/LiDAR/IMU Integration for Continuous and Drift-free State Estimation of Intelligent Vehicles in Urban Areas
## 1. Introduction
GLIO2 is a GPU-parallelized, tightly-coupled LiDAR–inertial–GNSS system for robust and real-time global localization and mapping in challenging environments such as long bridges and urban canyons.
### 1.1 Demo video
 🌉 Cross-Sea Bridge 
 LiDAR degeneracy · high-speed driving 
 🏙️ Urban Canyon 
 Severe GNSS multipath 
 🚁 Facade-Cleaning UAV 
 Autonomous cleaning on a 110 m high-rise facade 
 🐕 Robotic Guide Dog 
 Globally referenced navigation in pedestrian scenes 
### 1.2 Applications
 Autonomous Facade-Cleaning UAV 
 Robotic Guide-Dog Navigation 
## 2. Code Release
The code will be open-sourced once the paper is accepted.
## 3. Acknowledgements
GLIO2 builds on these excellent open-source projects:
GLIO,
GLIM,
GTSAM,
gnss_comm, and
RTKLIB.
We also thank the authors of the UrbanNav dataset.
## 4. Contact
For further inquiries or assistance, please contact qiiiii.zhang@connect.polyu.hk.