# Machine Learning-Based Self-Localization Using Internal Sensors for Automating Bulldozers

arXiv: https://arxiv.org/abs/2506.07271 · HTML: https://mlsanity.com/paper/2506.07271/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 4 of its 31 references that are in the map.
- First posted on arXiv 8 Jun 2025.

## Builds on (most cited first, 4 of 4)

- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [XGBoost: A Scalable Tree Boosting System](https://mlsanity.com/paper/1603.02754/) (2016)
- [WhONet: Wheel Odometry Neural Network for Vehicular Localisation in GNSS-Deprived Environments](https://mlsanity.com/paper/2104.02581/) (2021)
- [An LSTM Network for Real-Time Odometry Estimation](https://mlsanity.com/paper/1902.08536/) (2019)

## Abstract (arXiv)

Self-localization is an important technology for automating bulldozers. Conventional bulldozer self-localization systems rely on RTK-GNSS (Real Time Kinematic-Global Navigation Satellite Systems). However, RTK-GNSS signals are sometimes lost in certain mining conditions. Therefore, self-localization methods that do not depend on RTK-GNSS are required. In this paper, we propose a machine learning-based self-localization method for bulldozers. The proposed method consists of two steps: estimating local velocities using a machine learning model from internal sensors, and incorporating these estimates into an Extended Kalman Filter (EKF) for global localization. We also created a novel dataset for bulldozer odometry and conducted experiments across various driving scenarios, including slalom, excavation, and driving on slopes. The result demonstrated that the proposed self-localization method suppressed the accumulation of position errors compared to kinematics-based methods, especially when slip occurred. Furthermore, this study showed that bulldozer-specific sensors, such as blade position sensors and hydraulic pressure sensors, contributed to improving self-localization accuracy.