LiDAR, UWB and IMU-Based Cross-Agent Relative Pose Estimation

Andrea Masiero, Alberto Guarnieri, and Antonio Vettore

Abstract:	GNSS (Global Navigation Satellite System) typically enables outdoor positioning and navigation almost everywhere, satellite-based positioning cannot be used for precise navigation in certain challenging environments, such as, for instance, indoors, in tunnels and urban canyons. Despite GNSS can still be considered as the main localization technology for autonomous platforms, it has to be integrated with other approaches for the usability of such platforms in the previously mentioned challenging environments. This aspect is critical in particular when different platforms have to properly interact and cooperate: precisely determining the relative pose between them in such conditions is fundamental in order to make them properly complete their tasks in a cooperative manner. This work considers different alternatives for relative pose estimation between ground robots in a 2D environment, analyzing in particular the use of IMU (Inertial Measurement Unit) measurements and UWB (ultra-wide band) ranging, and their use supporting a spatial feature-based approach. Tests have been conducted on the second floor of a building of the University of Padua. Preliminary results show that the performance of the IMU-UWB approach quickly degenerates increasing the distance between the robots, whereas, UWB used to support feature-based method allow to reduce the chances of large errors.
Published in:	Proceedings of the 38th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2025) September 8 - 12, 2025 Hilton Baltimore Inner Harbor Baltimore, Maryland
Pages:	2137 - 2145
Cite this article:	Masiero, Andrea, Guarnieri, Alberto, Vettore, Antonio, "LiDAR, UWB and IMU-Based Cross-Agent Relative Pose Estimation," Proceedings of the 38th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2025), Baltimore, Maryland, September 2025, pp. 2137-2145. https://doi.org/10.33012/2025.20255
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