2 papers
cs.RO2024
A Real-time Degeneracy Sensing and Compensation Method for Enhanced LiDAR SLAM
Zongbo Liao, Xuanxuan Zhang, Tianxiang Zhang +4
LiDAR is widely used in Simultaneous Localization and Mapping (SLAM) and autonomous driving. The LiDAR odometry is of great importance in multi-sensor fusion. However, in some unst…
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,…