Consistent and Efficient MSCKF-based LiDAR-Inertial Odometry with Inferred Cluster-to-Plane Constraints for UAVs

Jinwen Zhu, Xudong Zhao, Fangcheng Zhu +4

Robust and accurate navigation is critical for Unmanned Aerial Vehicles (UAVs) especially for those with stringent Size, Weight, and Power (SWaP) constraints. However, most state-o…