FR-LIO: Fast and Robust Lidar-Inertial Odometry by Tightly-Coupled Iterated Kalman Smoother and Robocentric Voxels

Jun Liu, Yunzhou Zhang, Xiaoyu Zhao +1

This paper presents a fast lidar-inertial odometry (LIO) that is robust to aggressive motion. To achieve robust tracking in aggressive motion scenes, we exploit the continuous scan…