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   Articles with "lidar inertial" as a keyword



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Accurate semi‐direct lidar‐inertial odometry based on distance and normal direction

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recommendations! Published in 2024 at "Electronics Letters"

DOI: 10.1049/ell2.13152

Abstract: To improve the autonomous navigation capability of unmanned platforms, an accurate semi‐direct lidar‐inertial odometry algorithm with a new point cloud alignment evaluation metric is proposed. The lidar scan points are corrected through IMU (Inertial Measurement… read more here.

Keywords: navigation; semi direct; accurate semi; lidar inertial ... See more keywords

MF-LIO: integrating multi-feature LiDAR inertial odometry with FPFH loop closure in SLAM

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recommendations! Published in 2024 at "Measurement Science and Technology"

DOI: 10.1088/1361-6501/ad4385

Abstract: Simultaneous localization and mapping (SLAM) is a pivotal technology in autonomous vehicle navigation and a significant research area in robotics. Addressing the inaccuracies in point cloud registration of traditional LiDAR SLAM, which lead to localization… read more here.

Keywords: multi feature; registration; slam; lidar inertial ... See more keywords

A fast and accurate LiDAR-inertial odometry based on ground segmentation

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recommendations! Published in 2025 at "Measurement Science and Technology"

DOI: 10.1088/1361-6501/adf000

Abstract: Ground segmentation-based point cloud processing methods have gained significant attention in simultaneous localization and mapping (SLAM) for LiDAR-inertial odometry applications, particularly in autonomous vehicles. However, existing methods often lack robustness in complex environments, such as… read more here.

Keywords: segmentation; point; ground; ground segmentation ... See more keywords

PPLIO: Plane-to-Plane LiDAR-Inertial Odometry With Multi-View Constraint in Real-Time

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recommendations! Published in 2025 at "IEEE Access"

DOI: 10.1109/access.2025.3559081

Abstract: Recent feature-based LiDAR-inertial odometry (LIO) algorithms mainly adopt a point-to-plane model, which requires complex association between numerous feature points and planes. Since these methods only use distance as a parameter to associate feature points, they… read more here.

Keywords: real time; plane; plane plane; feature ... See more keywords

Pedestrian Gait-Enhanced LINS: A Robust, IMU-Centric LiDAR-Inertial Navigation System for Pedestrian

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recommendations! Published in 2025 at "IEEE Sensors Journal"

DOI: 10.1109/jsen.2024.3523131

Abstract: We propose a robust, pedestrian gait-enhanced, IMU-centric, LiDAR-inertial navigation system (P-LINS) for pedestrian applications. The system makes full use of the information of the IMU in state estimation and LiDAR processing. To improve the system’s… read more here.

Keywords: system; navigation; inertial navigation; pedestrian gait ... See more keywords

RTS-SLAM: Robust, Tightly Coupled, and Semantic-Enhanced LiDAR–Inertial SLAM

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recommendations! Published in 2025 at "IEEE Sensors Journal"

DOI: 10.1109/jsen.2025.3609911

Abstract: LiDAR-based simultaneous localization and mapping (SLAM) methods that rely solely on geometric features often fail in degraded environments with sparse or ambiguous structures. We present RTS-SLAM, a visually semantic-enhanced, tightly coupled SLAM framework that integrates… read more here.

Keywords: rts slam; tightly coupled; semantic enhanced; slam robust ... See more keywords

A Robust, Real-time, and Drift-Reduced LiDAR-Inertial-UWB Tightly Coupled Fusion

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recommendations! Published in 2025 at "IEEE Sensors Journal"

DOI: 10.1109/jsen.2025.3630840

Abstract: To increase autonomous system positioning accuracy and reliability in global navigation satellite system (GNSS)-denied environments, this study proposes a robust, real-time, and drift-reduced light detection and ranging (LiDAR)–inertial–ultrawideband (UWB) tightly coupled fusion approach, named RLIU,… read more here.

Keywords: system; navigation; drift; time ... See more keywords

Faster-LIO: Lightweight Tightly Coupled Lidar-Inertial Odometry Using Parallel Sparse Incremental Voxels

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recommendations! Published in 2022 at "IEEE Robotics and Automation Letters"

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

iG-LIO: An Incremental GICP-Based Tightly-Coupled LiDAR-Inertial Odometry

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recommendations! Published in 2024 at "IEEE Robotics and Automation Letters"

DOI: 10.1109/lra.2024.3349915

Abstract: This work proposes an incremental Generalized Iterative Closest Point (GICP) based tightly-coupled LiDAR-inertial odometry (LIO), iG-LIO, which integrates the GICP constraints and inertial constraints into a unified estimation framework. iG-LIO uses a voxel-based surface covariance… read more here.

Keywords: based tightly; tightly coupled; gicp based; lio ... See more keywords

LIV-GaussMap: LiDAR-Inertial-Visual Fusion for Real-Time 3D Radiance Field Map Rendering

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recommendations! Published in 2024 at "IEEE Robotics and Automation Letters"

DOI: 10.1109/lra.2024.3400149

Abstract: We introduce an integrated precise LiDAR, Inertial, and Visual (LIV) multimodal sensor fused mapping system that builds on the differentiable Gaussians to improve the mapping fidelity, quality, and structural accuracy. Notably, this is also a… read more here.

Keywords: inertial visual; real time; map; lidar inertial ... See more keywords

MR-ULINS: A Tightly-Coupled UWB-LiDAR-Inertial Estimator With Multi-Epoch Outlier Rejection

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recommendations! Published in 2024 at "IEEE Robotics and Automation Letters"

DOI: 10.1109/lra.2024.3498780

Abstract: The LiDAR-inertial odometry (LIO) and the ultra-wideband (UWB) have been integrated to achieve driftless positioning in global navigation satellite system (GNSS)-denied environments. However, the UWB may be affected by systematic range errors (such as the… read more here.

Keywords: multi epoch; epoch outlier; outlier rejection; lidar inertial ... See more keywords