Piecewise Linear De-skewing for LiDAR Inertial Odometry
arXiv:2108.06078 · doi:10.1109/ITSC48978.2021.9564742
Abstract
Light detection and ranging (LiDAR) on a moving agent could suffer from motion distortion due to simultaneous rotation of the LiDAR and fast movement of the agent. An accurate piecewise linear de skewing algorithm is proposed to correct the motion distortions for LiDAR inertial odometry (LIO) using high frequency motion information provided by an Inertial Measurement Unit (IMU). Experimental results show that the proposed algorithm can be adopted to improve the performance of existing LIO algorithms especially in cases of fast movement.
arXiv comment9 pages, 7 figures, Accepted for publication by IEEE Intelligent Transportation Systems Conference (ITSC 2021)
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