OpenLiDARMap: Zero-Drift Point Cloud Mapping Using Map Priors

Dominik Kulmer, Maximilian Leitenstern, Marcel Weinmann, Markus Lienkamp

2025

Abstract

Accurate localization is a critical component of mobile autonomous systems, especially in Global Navigation Satellite Systems (GNSS)-denied environments where traditional methods fail. In such scenarios, environmental sensing is essential for reliable operation. However, approaches such as LiDAR odometry and Simultaneous Localization and Mapping (SLAM) suffer from drift over long distances, especially in the absence of loop closures. Map-based localization offers a robust alternative, but the challenge lies in creating and georeferencing maps without GNSS support. To address this issue, we propose a method for creating georeferenced maps without GNSS by using publicly available data, such as building footprints and surface models derived from sparse aerial scans. Our approach integrates these data with onboard LiDAR scans to produce dense, accurate, georeferenced 3D point cloud maps. By combining an Iterative Closest Point (ICP) scan-to-scan and scan-to-map matching strategy, we achieve high local consistency without suffering from long-term drift. Thus, we eliminate the reliance on GNSS for the creation of georeferenced maps. The results demonstrate that LiDAR-only mapping can produce accurate georeferenced point cloud maps when augmented with existing map priors.

Paper Citation

in Harvard Style

Kulmer D., Leitenstern M., Weinmann M. and Lienkamp M. (2025). OpenLiDARMap: Zero-Drift Point Cloud Mapping Using Map Priors. In Proceedings of the 11th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS; ISBN 978-989-758-745-0, SciTePress, pages 178-188. DOI: 10.5220/0013405400003941

in Bibtex Style

@conference{vehits25,
author={Dominik Kulmer and Maximilian Leitenstern and Marcel Weinmann and Markus Lienkamp},
title={OpenLiDARMap: Zero-Drift Point Cloud Mapping Using Map Priors},
booktitle={Proceedings of the 11th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS},
year={2025},
pages={178-188},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0013405400003941},
isbn={978-989-758-745-0},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 11th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS
TI - OpenLiDARMap: Zero-Drift Point Cloud Mapping Using Map Priors
SN - 978-989-758-745-0
AU - Kulmer D.
AU - Leitenstern M.
AU - Weinmann M.
AU - Lienkamp M.
PY - 2025
SP - 178
EP - 188
DO - 10.5220/0013405400003941
PB - SciTePress