Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Toward Underground Localization: Lidar Inertial Odometry Enabled Aerial
  Robot Navigation   Localization can be achieved by different sensors and techniques such as a
global positioning system (GPS), wifi, ultrasonic sensors, and cameras. In this
paper, we focus on the laser-based localization method for unmanned aerial
vehicle (UAV) applications in a GPS denied environment such as a deep tunnel
system. Other than a low-cost 2D LiDAR for the planar axes, a single axis Lidar
for the vertical axis as well as an inertial measurement unit (IMU) device is
used to increase the reliability and accuracy of the localization performance.
We present a comparative analysis of the three selected laser-based
simultaneous localization and mapping(SLAM) approaches:(i) Hector SLAM; (ii)
Gmapping; and(iii) Cartographer. These algorithms have been implemented and
tested through real-world experiments. The results are compared with the ground
truth data and the experiments are available at https://youtu.be/kQc3mJjw_mw.

28
The categories of this paper are: alg-geom
18
The categories of this paper are: econ
32
The categories of this paper are: atom-ph
24
The categories of this paper are: dg-ga
29
The categories of this paper are: funct-an
34
The categories of this paper are: chem-ph
35
The categories of this paper are: mtrl-th
15
The categories of this paper are: nucl-ex
37
The categories of this paper are: supr-con
0
The categories of this paper are: hep-ph
2
The categories of this paper are: math
6
The categories of this paper are: astro-ph
11
The categories of this paper are: hep-lat
9
The categories of this paper are: nlin
3
The categories of this paper are: physics
12
The categories of this paper are: nucl-th