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cs.RO2026
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.…
cs.RO2024
AS-LIO: Spatial Overlap Guided Adaptive Sliding Window LiDAR-Inertial Odometry for Aggressive FOV Variation
Tianxiang Zhang, Xuanxuan Zhang, Zongbo Liao +2
LiDAR-Inertial Odometry (LIO) demonstrates outstanding accuracy and stability in general low-speed and smooth motion scenarios. However, in high-speed and intense motion scenarios,…