SI-LIO: High-Precision Tightly-Coupled LiDAR- Inertial Odometry via Single-Iteration Invariant Extended Kalman Filter

Cong Zhang; Jie Zhang; Qingchen Liu; Y. Liu; Jiahu Qin

doi:10.1109/lra.2024.3497757

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SI-LIO: High-Precision Tightly-Coupled LiDAR- Inertial Odometry via Single-Iteration Invariant Extended Kalman Filter

Cong Zhang Jie Zhang Qingchen Liu Y. Liu Jiahu Qin

Year: 2024 Journal: IEEE Robotics and Automation Letters Vol: 10 (1)Pages: 564-571 Publisher: Institute of Electrical and Electronics Engineers

DOI: 10.1109/lra.2024.3497757

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Keywords:

Odometry Kalman filter Inertial frame of reference Lidar Extended Kalman filter Invariant (physics) Artificial intelligence Computer vision Computer science Control theory (sociology) Mathematics Physics Robot Optics Mobile robot Classical mechanics

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Robotics and Sensor-Based Localization

Physical Sciences → Engineering → Aerospace Engineering

3D Surveying and Cultural Heritage

Physical Sciences → Earth and Planetary Sciences → Geology

Advanced Vision and Imaging

Physical Sciences → Computer Science → Computer Vision and Pattern Recognition

SI-LIO: High-Precision Tightly-Coupled LiDAR- Inertial Odometry via Single-Iteration Invariant Extended Kalman Filter

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