2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2021
DOI: 10.1109/iros51168.2021.9636676
|View full text |Cite
|
Sign up to set email alerts
|
Help me understand this report

Search citation statements

Order By: Relevance

Paper Sections

Select...
4
1

Citation Types

1
26
0

Year Published

2022
2022
2024
2024

Publication Types

Select...
5
3

Relationship

1
7

Authors

Journals

citations
Cited by 19 publications
(27 citation statements)
references
References 21 publications
1
26
0
Order By: Relevance
“…We refer to our method as continuous-time LIOM based on the use of continuous-time factor r L (L( Bt s f ), Xm , Xm+1 ), which is based on raw lidar point Bt s f . This characterization is consistent with previous works [7], [14]. In contrast, discrete-time methods use the deskewed point Bt m f based on IMU-propagated states [3], [4], [18].…”
Section: Maximum-a-priori (Map) Optimizationsupporting
confidence: 90%
See 2 more Smart Citations
“…We refer to our method as continuous-time LIOM based on the use of continuous-time factor r L (L( Bt s f ), Xm , Xm+1 ), which is based on raw lidar point Bt s f . This characterization is consistent with previous works [7], [14]. In contrast, discrete-time methods use the deskewed point Bt m f based on IMU-propagated states [3], [4], [18].…”
Section: Maximum-a-priori (Map) Optimizationsupporting
confidence: 90%
“…In the first one, planar and corner features are extracted based on the smoothness value, then associated with k-nearest neighbours to construct the corresponding cost factors. This method was proposed in [2] and is still widely adopted in many recent works [3]- [7]. One issue of this method is that the smoothness calculation is specialized for the lidar scans with horizontally separated rings, in environments with man-made structure.…”
Section: Introductionmentioning
confidence: 99%
See 1 more Smart Citation
“…By incorporating an inertial measurement unit (IMU), LiDAR inertial odometry (LIO) can present a better performance for localization and mapping in motion [ 13 ]. To make the implementation of LIO efficient and non-professional, self-calibration LIO methods have become a hot research topic in the related community [ 14 , 15 , 16 , 17 ]. Unlike the self-calibration odometer for common LiDAR that only considers the calibration between the IMU and the LIDAR, the self-calibration odometer for SLiDAR has to additionally consider the calibration between the rotating mechanism and the LIDAR due to the manufacturing and installation deviation, rotational wear and the nature of thermal expansion and contraction of the rotating mechanism [ 18 ].…”
Section: Introductionmentioning
confidence: 99%
“…T HE LiDAR-IMU (LI) system has prevailed in recent years [1][2][3][4][5][6][7], as an increasing number of robotic applications require accurate and robust LI-navigation solutions. Accurate LiDAR-IMU extrinsic calibration is a prerequisite of LI navigation.…”
Section: Introductionmentioning
confidence: 99%