DALI-SLAM: Degeneracy-aware LiDAR-inertial SLAM with novel distortion correction and accurate multi-constraint pose graph optimization
Weitong Wu, Chi Chen, Bisheng Yang, Xianghong Zou, Fuxun Liang, Yuhang Xu, Xiufeng He
Topics & Concepts
Simultaneous localization and mappingArtificial intelligenceComputer visionConstraint (computer-aided design)Computer scienceDistortion (music)GraphDegeneracy (biology)Inertial frame of referenceInertial measurement unitMathematicsTheoretical computer scienceRobotPhysicsGeometryMobile robotBiologyQuantum mechanicsAmplifierBioinformaticsComputer networkBandwidth (computing)Robotics and Sensor-Based Localization3D Surveying and Cultural HeritageRemote Sensing and LiDAR Applications