Coarse-to-Fine Loosely-Coupled LiDAR-Inertial Odometry for Urban Positioning and Mapping

Coarse-to-Fine Loosely-Coupled LiDAR-Inertial Odometry for Urban Positioning and Mapping

Accurate positioning and mapping are significant for autonomous systems with navigation requirements. In this paper, a coarse-to-fine loosely-coupled (LC) LiDAR-inertial odometry (LC-LIO) that could explore the complementariness of LiDAR and inertial measurement unit (IMU) was proposed for the real-...

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Bibliographic Details
Main Authors: Jiachen Zhang, Weisong Wen, Feng Huang, Xiaodong Chen, Li-Ta Hsu
Format: Article
Language:English
Published: MDPI AG 2021-06-01
Series:Remote Sensing
Subjects:
LiDAR-inertial odometry
loosely-coupled integration
adaptive covariance estimation
positioning
mapping
autonomous systems
Online Access:https://www.mdpi.com/2072-4292/13/12/2371

Internet

https://www.mdpi.com/2072-4292/13/12/2371

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