Land–Maritime Localization in Autonomous Robotics: Nav2 versus EasyNav
DOI:
https://doi.org/10.17979/ja-cea.2026.47.13851Keywords:
Mobile robots, Field robotics, Perception and sensing, Information and sensor fusion, Guidance navigation and control, Autonomous surface vehicles, Unmanned marine vehiclesAbstract
This work analyzes LiDAR-inertial localization in terrestrial and maritime robotic platforms through a comparison between Nav2 and EasyNav. To this end, an external perception module, composed of a Livox MID-360 LiDAR and an NVIDIA Jetson
Orin Nano, common to both platforms and independent of each robot’s native sensing system, is used. The recorded data are processed with Fast-LIO2 to obtain an odometric estimation and reconstruct point clouds, which are subsequently filtered, aligned, and projected to generate representations suitable for localization. The comparison focuses on how each framework integrates this perceptual information: Nav2 through online representation and 2D costmaps, and EasyNav through a prior occupancy map. The results in the port scenario show that EasyNav provides more regular position localization, while Nav2 is more sensitive to the variability of local perception.
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Copyright (c) 2026 Irene Mejía Hurtado, Juan Camilo Angarita Noriega, Enric Cervera Mateu, Raúl Marín Prades
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