Point-Line LIVO Using Patch-Based Gradient Optimization for Degenerate Scenes
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DOI: 10.1109/lra.2024.3466088
Abstract: Simultaneous localization and mapping based on 3-D light detection and ranging (LiDAR) tends to degenerate in structural-less environments, leading to a distinct reduction in localization accuracy and mapping precision. This article proposes a point-line LiDAR-visual-inertial… read more here.
Keywords: degenerate scenes; patch based; localization; based gradient ... See more keywords