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We present LINS, a lightweight lidar-inertial state estimator, for real-time ego-motion estimation.
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S. Anderson and T. D. Barfoot, “Ransac for motion-distorted 3d visual sensors,” in 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems . IEEE, 2013, pp. 2093–2099
2099
Closest in time.