AC-LIO: Towards Asymptotic Compensation for Distortion in LiDAR-Inertial Odometry via Selective Intra-Frame Smoothing

Tianxiang Zhang, Xuanxuan Zhang, Wenlei Fan +4

Existing LiDAR-Inertial Odometry (LIO) methods typically utilize the prior trajectory derived from the IMU integration to compensate for the motion distortion within LiDAR frames.…