Direct LiDAR-Inertial Odometry: Lightweight LIO with Continuous-Time Motion Correction
Kenny Chen,Ryan Nemiroff,Brett T. Lopez,Kenny Chen,Ryan Nemiroff,Brett T. Lopez
Aggressive motions from agile flights or traversing irregular terrain induce motion distortion in LiDAR scans that can degrade state estimation and mapping. Some methods exist to mitigate this effect, but they are still too simplistic or computationally costly for resource-constrained mobile robots. To this end, this paper presents Direct LiDAR-Inertial Odometry (DLIO), a lightweight LiDAR-inertia...
