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Enhanced Mobile Robot Localization with Lidar and IMU Sensor

Lidar technology is widely used in performing robot localization. However, when only Lidar is being used, the accuracy of localization is not high. In this paper, we present a technique to integrate IMU sensor into a mobile robot equipped with Lidar module. With the heading and direction information (odometer) generated from IMU, the localization error introduced by Lidar can be corrected from time to time. Experimental results show that the robot is able to perform better localization with the introduction of IMU sensor.