LIPS: LiDAR-Inertial 3D Plane SLAM

This paper presents the formalization of the closest point plane representation and an analysis of its incorporation in 3D indoor simultaneous localization and mapping (SLAM). We present a singularity free plane factor leveraging the closest point plane representation, and demonstrate its fusion with inertial preintegratation measurements in a graph-based optimization framework. The resulting LiDAR-inertial 3D plane SLAM (LIPS) system is validated both on a custom made LiDAR simulator and on a real-world experiment.