论文标题
通过迭代点级的不合适的激光镜头胶质胶合量紧密耦合
A Tightly Coupled LiDAR-IMU Odometry through Iterated Point-Level Undistortion
论文作者
论文摘要
在高旋转和翻译速度高的高动态环境中，扫描不合适是激光镜射仪的关键模块。现有的研究线主要集中在一个通过不合时件上，这意味着在整个LIDAR-IMU探射管道中，每个点的不合时件仅进行一次。在本文中，我们提出了一个基于优化的紧密耦合激光胶 - IMU探光仪，以解决迭代点级的不合适。通过共同最大程度地减少从激光雷达和IMU测量结果中得出的成本，我们的LIDAR-IMU ODMOTIENTRY方法在高动态环境中执行更准确和健壮。此外，方法字符通过限制参数数量来良好的计算效率。
Scan undistortion is a key module for LiDAR odometry in high dynamic environment with high rotation and translation speed. The existing line of studies mostly focuses on one pass undistortion, which means undistortion for each point is conducted only once in the whole LiDAR-IMU odometry pipeline. In this paper, we propose an optimization based tightly coupled LiDAR-IMU odometry addressing iterated point-level undistortion. By jointly minimizing the cost derived from LiDAR and IMU measurements, our LiDAR-IMU odometry method performs more accurate and robust in high dynamic environment. Besides, the method characters good computation efficiency by limiting the quantity of parameters.
