3 citations · 4 across the 3 of their papers we have counts for
3 papers
cs.RO2023★ 1 cited
Direct LiDAR-Inertial Odometry and Mapping: Perceptive and Connective SLAM
Kenny Chen, Ryan Nemiroff, Brett T. Lopez
This paper presents Direct LiDAR-Inertial Odometry and Mapping (DLIOM), a robust SLAM algorithm with an explicit focus on computational efficiency, operational reliability, and rea…
cs.RO2023
Joint On-Manifold Gravity and Accelerometer Intrinsics Estimation for Inertially Aligned Mapping
Ryan Nemiroff, Kenny Chen, Brett T. Lopez
Aligning a robot's trajectory or map to the inertial frame is a critical capability that is often difficult to do accurately even though inertial measurement units (IMUs) can obser…
cs.RO2022★ 3 cited
Direct LiDAR-Inertial Odometry: Lightweight LIO with Continuous-Time Motion Correction
Kenny Chen, Ryan Nemiroff, Brett T. Lopez
Aggressive motions from agile flights or traversing irregular terrain induce motion distortion in LiDAR scans that can degrade state estimation and mapping. Some methods exist to m…