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cs.RO2025
SR-LIO++: LiDAR-Inertial Odometry and Quantized Mapping with Caching-Aware Sweep Reconstruction
Zikang Yuan, Ruiye Ming, Chengwei Zhao +6
Addressing the inherent low acquisition frequency limitation of 3D LiDAR to achieve high-frequency output has become a critical research focus in the LiDAR-Inertial Odometry (LIO)…
cs.RO2023
Semi-Elastic LiDAR-Inertial Odometry
Zikang Yuan, Fengtian Lang, Tianle Xu +3
Existing LiDAR-inertial state estimation assumes that the state at the beginning of current sweep is identical to the state at the end of last sweep. However, if the state at the e…