Vibration-aware Lidar-Inertial Odometry based on Point-wise Post-Undistortion Uncertainty

Yan Dong, Enci Xu, Shaoqiang Qiu +3

High-speed ground robots moving on unstructured terrains generate intense high-frequency vibrations, leading to LiDAR scan distortions in Lidar-inertial odometry (LIO). Accurate an…