This paper presents a real-time 6DoF localization method which corrects accumulative error by estimating relative poses to building walls for mobile robots in urban areas. This method exploits a fact that most of all artificial walls are built vertically. It estimates poses by not only an inertial sensor but also real-time SLAM and observations of normals from point-cloud of artificia... https://pipingrockers.shop/product-category/sunflower-lecithin/