@article{Yang2025, 
author = {Ruilan Yang and Yuhua Qi and Chong Pan and Jinbo Wang and Xiong Li and Hongbo Chen and Ren Jin},
title = {Integrated Localization Method for a Ground-Aerial Robotic System in Warehouse Inventory Scenarios},
year = {2025},
journal = {Unmanned Systems},
volume = {13},
number = {4},
pages = {1123-1141},
keywords = {Warehouse inventory, ground-aerial system, LiDAR-Inertial Odometry, target-based relative localization},
url = {https://www.sciopen.com/article/10.1142/S2301385025500700},
doi = {10.1142/S2301385025500700},
abstract = {In this study, we designed a ground-aerial robotic system for the warehouse inventory. The system fully exploits the advantages of UAV and UGV, giving it a stronger competitive edge than previous solutions. The sensors and hardwares used in this system also have modest requirements for computational resources and electrical power, which allows for long-term inventory. An integrated localization framework is established to achieve an accurate localization of this system. We proposed a LiDAR-Inertial Odometry and a target-based relative localization method to provide accurate pose estimation for the entire system. We conducted a series of tests using motion-capture cameras to validate the accuracy and robustness of the ground-aerial robotic system. In addition, we constructed inventory tasks in a real warehouse to demonstrate the effectiveness of our system. The experimental results confirm that the proposed system achieves comparable working efficiency and localization accuracy in the warehouse inventory.}
}