Fast Lidar Inertial Odometry and Mapping for Mobile Robot SE(2) Navigation
This paper presents a fast Lidar inertial odometry and mapping (F-LIOM) method for mobile robot navigation on flat terrain with high real-time pose estimation, map building, and place recognition. Existing works on Lidar inertial odometry have mostly parameterized the keyframe pose as SE(3) even whe...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-08-01
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| Series: | Applied Sciences |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-3417/13/17/9597 |