Faster-LIO: Lightweight Tightly Coupled Lidar-Inertial Odometry Using Parallel Sparse Incremental Voxels

This letter presents an incremental voxel-based lidar-inertial odometry (LIO) method for fast-tracking spinning and solid-state lidar scans. To achieve the high tracking speed, we neither use complicated tree-based structures to divide the spatial point cloud nor the strict k nearest neighbor (k-NN)...

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Bibliographic Details
Published in:	IEEE robotics and automation letters Vol. 7; no. 2; pp. 4861 - 4868
Main Authors:	Bai, Chunge, Xiao, Tao, Chen, Yajie, Wang, Haoqian, Zhang, Fang, Gao, Xiang
Format:	Journal Article
Language:	English
Published:	Piscataway IEEE 01.04.2022 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Algorithms Data structures Graphics processing units Hilbert curve Laser radar Lidar Lidar-inertial odometry nearest neighbor Point cloud compression Queries Simultaneous localization and mapping SLAM Solid state Spatial data Spatial databases Spinning Tracking
ISSN:	2377-3766, 2377-3766
Online Access:	Get full text
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