Faster-LIO: Lightweight Tightly Coupled Lidar-Inertial Odometry Using Parallel Sparse Incremental Voxels
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DOI: 10.1109/lra.2022.3152830
Abstract: This letter presents an incremental voxel-based lidar-inertial odometry (LIO) method for fast-tracking spinning and solid-state lidar scans. To achieve the high tracking speed, we neither use complicated tree-based structures to divide the spatial point cloud… read more here.
Keywords: lidar inertial; incremental voxels; faster lio; inertial odometry ... See more keywords