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Fast-LIO: Robust LiDAR-Inertial Odometry by ilyaskhalali195 is a document available to read on EtoBox.
What is Fast-LIO: Robust LiDAR-Inertial Odometry about?
The document presents FAST-LIO, a computationally efficient and robust LiDAR-inertial odometry framework that utilizes a tightly-coupled iterated extended Kalman filter for navigation in challenging environments. It addresses challenges posed by solid-state LiDARs, including high computational load and motion distortion, by proposing a new formula for computing Kalman gain that reduces complexity. The system has been tested in various environments and demonstrates reliable real-time navigation on small-scal
- Author
- ilyaskhalali195
- Language
- EN