2 papers
cs.RO2021
Piecewise Linear De-skewing for LiDAR Inertial Odometry
John Henawy, Zhengguo Li, Wei Yun Yau +2
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 piec…
cs.RO2019
Accurate IMU Preintegration Using Switched Linear Systems For Autonomous Systems
John Henawy, Zhengguo Li, Wei Yun Yau +2
Employing an inertial measurement unit (IMU) as an additional sensor can dramatically improve both reliability and accuracy of visual/Lidar odometry (VO/LO). Different IMU integrat…