Accurate semi‐direct lidar‐inertial odometry based on distance and normal direction
Abstract To improve the autonomous navigation capability of unmanned platforms, an accurate semi‐direct lidar‐inertial odometry algorithm with a new point cloud alignment evaluation metric is proposed. The lidar scan points are corrected through IMU (Inertial Measurement Unit) backward propagation,...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2024-03-01
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| Series: | Electronics Letters |
| Subjects: | |
| Online Access: | https://doi.org/10.1049/ell2.13152 |