2023
DOI: 10.1002/aisy.202200459
|View full text |Cite
|
Sign up to set email alerts
|

Point‐LIO: Robust High‐Bandwidth Light Detection and Ranging Inertial Odometry

Abstract: Herein, point light detection and ranging inertial odometry (LIO) is presented: a robust and high‐bandwidth light detection and ranging (LiDAR) inertial odometry with the capability to estimate extremely aggressive robotic motions. Point‐LIO has two key novelties. The first one is a point‐by‐point LIO framework that updates the state at each LiDAR point measurement. This framework allows an extremely high‐frequency odometry output, significantly increases the odometry bandwidth, and fundamentally removes the a… Show more

Help me understand this report

Search citation statements

Order By: Relevance

Paper Sections

Select...
1
1
1
1

Citation Types

0
5
0

Year Published

2023
2023
2024
2024

Publication Types

Select...
7
1

Relationship

0
8

Authors

Journals

citations
Cited by 21 publications
(8 citation statements)
references
References 61 publications
0
5
0
Order By: Relevance
“…A direction to improve this work was to add additional features such as edge to the voxel to expand the universality of the proposed map representation method. Point-LIO (He et al, 2023) is a robust and high-bandwidth light detection and ranging (LiDAR) inertial odometry with the capability to estimate extremely aggressive robotic motions. Point-LIO could be used in various autonomous tasks, such as trajectory planning, control and perception, especially in cases involving very fast ego-motions.…”
Section: D Light Detection and Ranging-based Simultaneous Localizatio...mentioning
confidence: 99%
“…A direction to improve this work was to add additional features such as edge to the voxel to expand the universality of the proposed map representation method. Point-LIO (He et al, 2023) is a robust and high-bandwidth light detection and ranging (LiDAR) inertial odometry with the capability to estimate extremely aggressive robotic motions. Point-LIO could be used in various autonomous tasks, such as trajectory planning, control and perception, especially in cases involving very fast ego-motions.…”
Section: D Light Detection and Ranging-based Simultaneous Localizatio...mentioning
confidence: 99%
“…Additionally, Zhao et al introduce the iterated ESKFS to mitigate potential degeneration issues caused by increased sub-frames. Point-LIO [47] achieves high-frequency odometry through a point-by-point framework. This approach involves processing LiDAR scans at the individual point level, a strategy that naturally eliminates motion distortion.…”
Section: Tightly Coupled Approachesmentioning
confidence: 99%
“…The implementation considers four different factors, namely IMU preintegration, LiDAR odometry, GPS and a loop closure factor, making it ideal for multi-sensor fusion and global optimization. Lately, several methods based on similar principles have been proposed [ 25 , 26 , 27 , 28 , 29 , 30 , 31 , 32 ].…”
Section: Background and Related Workmentioning
confidence: 99%