2 papers
cs.RO2025
MSC-LIO: An MSCKF-Based LiDAR-Inertial Odometry with Same-Plane Cluster Tracking
Tisheng Zhang, Man Yuan, Linfu Wei +2
The multi-state constraint Kalman filter (MSCKF) has been proven to be more efficient than graph optimization for visual-based odometry while with similar accuracy. However, it has…
cs.RO2025
MR-ULINS: A Tightly-Coupled UWB-LiDAR-Inertial Estimator with Multi-Epoch Outlier Rejection
Tisheng Zhang, Man Yuan, Linfu Wei +3
The LiDAR-inertial odometry (LIO) and the ultra-wideband (UWB) have been integrated together to achieve driftless positioning in global navigation satellite system (GNSS)-denied en…