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cs.CV2023
SR-LIVO: LiDAR-Inertial-Visual Odometry and Mapping with Sweep Reconstruction
Zikang Yuan, Jie Deng, Ruiye Ming +2
Existing LiDAR-inertial-visual odometry and mapping (LIV-SLAM) systems mainly utilize the LiDAR-inertial odometry (LIO) module for structure reconstruction and the visual-inertial…
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…