<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE article PUBLIC "-//NLM//DTD Journal Publishing DTD v3.0 20080202//EN" "https://jats.nlm.nih.gov/nlm-dtd/publishing/3.0/journalpublishing3.dtd">
<article xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink" article-type="research-article" dtd-version="3.0" xml:lang="en">
<front>
<journal-meta>
<journal-id journal-id-type="publisher">ISPRS-Archives</journal-id>
<journal-title-group>
<journal-title>The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences</journal-title>
<abbrev-journal-title abbrev-type="publisher">ISPRS-Archives</abbrev-journal-title>
<abbrev-journal-title abbrev-type="nlm-ta">Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci.</abbrev-journal-title>
</journal-title-group>
<issn pub-type="epub">2194-9034</issn>
<publisher><publisher-name>Copernicus Publications</publisher-name>
<publisher-loc>Göttingen, Germany</publisher-loc>
</publisher>
</journal-meta>
<article-meta>
<article-id pub-id-type="doi">10.5194/isprs-archives-XLIX-B1-2026-71-2026</article-id>
<title-group>
<article-title>CMLGF-LIO: A Cross-Modal Local-Global Fusion Framework for Robust LiDAR-Inertial Odometry</article-title>
</title-group>
<contrib-group><contrib contrib-type="author" xlink:type="simple"><name name-style="western"><surname>Yang</surname>
<given-names>Xin</given-names>
<ext-link>https://orcid.org/0000-0002-4357-8123</ext-link>
</name>
<xref ref-type="aff" rid="aff1">
<sup>1</sup>
</xref>
</contrib>
<contrib contrib-type="author" xlink:type="simple"><name name-style="western"><surname>Yan</surname>
<given-names>Li</given-names>
</name>
<xref ref-type="aff" rid="aff1">
<sup>1</sup>
</xref>
</contrib>
<contrib contrib-type="author" xlink:type="simple"><name name-style="western"><surname>Xie</surname>
<given-names>Hong</given-names>
</name>
<xref ref-type="aff" rid="aff1">
<sup>1</sup>
</xref>
</contrib>
</contrib-group><aff id="aff1">
<label>1</label>
<addr-line>School of Geodesy and Geomatics, Wuhan University, Wuhan, China</addr-line>
</aff>
<pub-date pub-type="epub">
<day>22</day>
<month>07</month>
<year>2026</year>
</pub-date>
<volume>XLIX-B1-2026</volume>
<fpage>71</fpage>
<lpage>76</lpage>
<permissions>
<copyright-statement>Copyright: &#x000a9; 2026 Xin Yang et al.</copyright-statement>
<copyright-year>2026</copyright-year>
<license license-type="open-access">
<license-p>This work is licensed under the Creative Commons Attribution 4.0 International License. To view a copy of this licence, visit <ext-link ext-link-type="uri"  xlink:href="https://creativecommons.org/licenses/by/4.0/">https://creativecommons.org/licenses/by/4.0/</ext-link></license-p>
</license>
</permissions>
<self-uri xlink:href="https://isprs-archives.copernicus.org/articles/XLIX-B1-2026/71/2026/isprs-archives-XLIX-B1-2026-71-2026.html">This article is available from https://isprs-archives.copernicus.org/articles/XLIX-B1-2026/71/2026/isprs-archives-XLIX-B1-2026-71-2026.html</self-uri>
<self-uri xlink:href="https://isprs-archives.copernicus.org/articles/XLIX-B1-2026/71/2026/isprs-archives-XLIX-B1-2026-71-2026.pdf">The full text article is available as a PDF file from https://isprs-archives.copernicus.org/articles/XLIX-B1-2026/71/2026/isprs-archives-XLIX-B1-2026-71-2026.pdf</self-uri>
<abstract>
<p>Accurate and robust localization is essential for autonomous vehicles and mobile robots operating in complex, dynamic environments. However, existing learning-based LiDAR-inertial odometry (LIO) methods typically rely on simplistic weighted fusion or purely global attention, which often fail to fully exploit cross-modal complementarity. In this paper, we propose CMLGF-LIO, a cross-modal local-global fusion framework that enhances both the accuracy and robustness of LIO. At the local level, we design a Local Split-Attention (LSA) module that injects IMU-derived motion priors into local LiDAR feature groups and adaptively allocates attention weights, suppressing redundant information while preserving discriminative local geometry for fine-grained fusion. At the global level, we introduce a Global MLP-Mixer (GMM) module that aligns LiDAR and IMU token sequences and models global cross-modal interactions using an MLP-Mixer backbone. Experiments demonstrate that CMLGF-LIO is more robust than learning-based baselines under challenging conditions, and ablation studies validate the effectiveness of the proposed local-global fusion strategy.</p>
</abstract>
<counts><page-count count="6"/></counts>
</article-meta>
</front>
<body/>
<back>
</back>
</article>