Towards High-Performance Solid-State-LiDAR-Inertial Odometry and Mapping

Understand

We present a novel tightly-coupled LiDAR-inertial odometry and mapping scheme for both solid-state and mechanical LiDARs.

• As frontend, a feature-based lightweight LiDAR odometry provides fast motion estimates for adaptive keyframe selection.
• As backend, a hierarchical keyframe-based sliding window optimization is performed through marginalization for directly fusing IMU and LiDAR measurements.
• For the Livox Horizon, a newly released solid-state LiDAR, a novel feature extraction method is proposed to handle its irregular scan pattern during preprocessing.