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SnowPole-GeoLoc: An open-source GNSS–LiDAR snow pole geo-localization framework
University of Gävle, Faculty of Engineering and Sustainable Development, Department of Computer and Geospatial Sciences, Computer Science.ORCID iD: 0000-0001-9743-1701
2026 (English)In: SoftwareX, E-ISSN 2352-7110, Vol. 34, article id 102609Article in journal (Refereed) Published
Abstract [en]

Reliable vehicle localization remains challenging in GNSS-limited and GNSS-denied environments. This challenge becomes particularly severe under harsh Nordic winter conditions, where road markings, traffic signs, and visual landmarks are often obscured by snow. This paper presents SnowPole-GeoLoc, an open-source software framework for snow pole geo-localization using GNSS and LiDAR data fusion. In this framework, snow poles are treated as stable and machine-perceivable roadside infrastructure landmarks. The framework integrates deep learning-based snow pole detection from LiDAR-derived images with GNSS-assisted geolocalization. This combination enables the estimation of absolute pole locations in global map coordinates. The software provides modules for ROS bag processing, visualization, coordinate transformation, and quantitative evaluation against ground-truth pole locations. SnowPole-GeoLoc is evaluated using real-world data collected along Norwegian highways with a 128-channel LiDAR sensor and continuous GNSS measurements. The software is modular, reproducible, and publicly released with pretrained models, datasets, and environment specifications. It can be used as a standalone snow pole geo-localization tool or as a core sub-module within end-to-end vehicle localization pipelines designed for winter-degraded sensing conditions.

Place, publisher, year, edition, pages
Elsevier , 2026. Vol. 34, article id 102609
Keywords [en]
Snow pole localization, GNSS-LiDAR fusion, Infrastructure landmarks, Nordic winter conditions, ROS bag processing, Vehicle localization
National Category
Computer and Information Sciences
Identifiers
URN: urn:nbn:se:hig:diva-49595DOI: 10.1016/j.softx.2026.102609Scopus ID: 2-s2.0-105034464712OAI: oai:DiVA.org:hig-49595DiVA, id: diva2:2051293
Funder
The Research Council of NorwayKnowledge Foundation, KKS-20230085Available from: 2026-04-07 Created: 2026-04-07 Last updated: 2026-04-13Bibliographically approved

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Bavirisetti, Durga Prasad

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CiteExportLink to record
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Citation style
  • apa
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Language
  • sv-SE
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  • Other locale
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Output format
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