IVHC-DLIO: Incremental Voxels based Hybrid Coupled Direct LiDAR-Inertial Odometry | IEEE Conference Publication | IEEE Xplore

IVHC-DLIO: Incremental Voxels based Hybrid Coupled Direct LiDAR-Inertial Odometry


Abstract:

This paper proposes an incremental voxels based hybrid coupled direct LiDAR-inertial odometry (IVHC-DLIO) algorithm. The hybrid coupling approach combines the advantages ...Show More

Abstract:

This paper proposes an incremental voxels based hybrid coupled direct LiDAR-inertial odometry (IVHC-DLIO) algorithm. The hybrid coupling approach combines the advantages of loosely coupled and tightly coupled methods. On one hand, the incremental voxel-based mapping technique is employed, resembling a loosely coupled approach. The IVox-GICP solver leverages the easy maintenance and efficient k- NN search capability of incremental voxels to achieve incremental GICP point cloud registration for scan-to-map alignment. On the other hand, the factor graph is used to achieve the tightly coupled state optimization and the optimized state is then utilized for subsequent point cloud motion compensation and state propagation, thereby enhancing mapping accuracy. The proposed method is evaluated on various public datasets, demonstrating excellent performance in terms of robustness, localization accuracy, and runtime.
Date of Conference: 15-17 December 2023
Date Added to IEEE Xplore: 15 May 2024
ISBN Information:
Conference Location: Wuhan, China

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