Faster-LIO: Lightweight Tightly Coupled Lidar-Inertial Odometry Using Parallel Sparse Incremental Voxels
Sign Up to like & getrecommendations! 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
PGO-LIOM: Tightly Coupled LiDAR-Inertial Odometry and Mapping via Parallel and Gradient-Free Optimization
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Transactions on Industrial Electronics"
DOI: 10.1109/tie.2022.3229329
Abstract: Real-time localization and mapping for micro aerial vehicles (MAV) is a challenging problem, due to the limitation of the onboard computational power. In this article, a tightly coupled light detection and ranging (LiDAR)-inertial odometry is… read more here.
Keywords: lidar inertial; gradient free; inertial odometry; free optimization ... See more keywords
An Intensity-Augmented LiDAR-Inertial SLAM for Solid-State LiDARs in Degenerated Environments
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Instrumentation and Measurement"
DOI: 10.1109/tim.2022.3190060
Abstract: With development of light detection and ranging (LiDAR) technology, solid-state LiDARs receive a lot of attention for their high reliability, low cost, and lightweight. However, compared with traditional rotating LiDARs, these solid-state LiDARs pose new… read more here.
Keywords: state; lidar inertial; slam; state lidars ... See more keywords
LiDAR Inertial Odometry Based on Indexed Point and Delayed Removal Strategy in Highly Dynamic Environments
Sign Up to like & getrecommendations! Published in 2023 at "Sensors"
DOI: 10.3390/s23115188
Abstract: Simultaneous localization and mapping (SLAM) is considered a challenge in environments with many moving objects. This paper proposes a novel LiDAR inertial odometry framework, LiDAR inertial odometry-based on indexed point and delayed removal strategy (ID-LIO)… read more here.
Keywords: based indexed; lidar inertial; odometry; removal ... See more keywords