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We propose a framework for tightly-coupled lidar inertial odometry via smoothing and mapping, LIO-SAM, that achieves highly accurate, real-time mobile robot trajectory estimation and map-building.
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T. Shan and B. Englot, “LeGO-LOAM: Lightweight and Ground-optimized Lidar Odometry and Mapping on Variable Terrain,” IEEE/RSJ International Conference on Intelligent Robots and Systems
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2018
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2018
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2019
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H. Ye, Y. Chen, and M. Liu, “Tightly Coupled 3D Lidar Inertial Odometry and Mapping,” IEEE International Conference on Robotics and Automation
2019
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J. Guo, P. VK Borges, C. Park, and A. Gawel, “Local Descriptor for Robust Place Recognition using Lidar Intensity,” IEEE Robotics and Automation Letters
2019
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