SE(3)-LIO: Smooth IMU Propagation With Jointly Distributed Poses on SE(3) Manifold for Accurate and Robust LiDAR-Inertial Odometry

Gunhee Shin, Seungjae Lee, Jei Kong +2

In estimating odometry accurately, an inertial measurement unit (IMU) is widely used owing to its high-rate measurements, which can be utilized to obtain motion information through…