Autonomous Drone Navigation in GPS-Denied Environments Using Visual-Inertial Odometry and LiDAR SLAM

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DOI https://doi.org/10.55923/aksara.v5i1.2
Eko Setiawan 1
1Department of Civil Engineering, Universitas Sumatera Utara
1 eko.setiawan@usu.ac.id

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Underground mining and indoor industrial environments obstruct satellite geolocation signals. We formulate a sensor-fusion localization architecture tightly coupling stereo camera feeds, IMU streams, and 3D LiDAR point clouds to deliver centimeter-precise positional tracking in GPS-denied scenarios.
Issue Vol. 5 No. 1 (2026)
Section Articles
Pages 280-293
Published 2026-03-15

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