Point‐LIO: Robust High‐Bandwidth Light Detection and Ranging Inertial Odometry
Dongjiao He, Wei Xu, Nan Chen, Fanze Kong, Chongjian Yuan, Fu Zhang
Abstract
Localization and Mapping Systems In article number 2200459, Dongjiao He, Wei Xu, and colleagues present a high-bandwidth LiDAR-inertial system (LIO), which updates the state at the sampling time of each LiDAR point or IMU measurement without accumulating a frame. The system is motion distortion free and is able to output a high-rate (4 kHz – 8 kHz), high-bandwidth (over 150 Hz) odometry and handles extremely aggressive motions where IMU saturates.
Topics & Concepts
RangingOdometryInertial frame of referenceBandwidth (computing)Computer scienceArtificial intelligencePhysicsRobotTelecommunicationsMobile robotQuantum mechanicsAdvanced Optical Sensing Technologies3D Surveying and Cultural HeritageRemote Sensing and LiDAR Applications