Direct LiDAR-Inertial Odometry: Lightweight LIO with Continuous-Time Motion Correction

7 March 2022

Papers citing "Direct LiDAR-Inertial Odometry: Lightweight LIO with Continuous-Time Motion Correction"

50 / 53 papers shown

Title
LEMON-Mapping: Loop-Enhanced Large-Scale Multi-Session Point Cloud Merging and Optimization for Globally Consistent Mapping Lijie Wang Xiaoyi Zhong Ziyi Xu Kaixin Chai Anke Zhao Tianyu Zhao Qianhao Wang Fei Gao 26 0 0 15 May 2025
CompSLAM: Complementary Hierarchical Multi-Modal Localization and Mapping for Robot Autonomy in Underground Environments Shehryar Khattak Timon Homberger Lukas Bernreiter Julian Nubert Olov Andersson Roland Siegwart Kostas Alexis Marco Hutter 31 0 0 10 May 2025
Do We Still Need to Work on Odometry for Autonomous Driving? Cedric Le Gentil Daniil Lisus T. Barfoot 40 0 0 07 May 2025
Certifiably-Correct Mapping for Safe Navigation Despite Odometry Drift Devansh R. Agrawal Taekyung Kim Rajiv G. Govindjee Trushant Adeshara Jiangbo Yu Anurekha Ravikumar Dimitra Panagou 29 0 0 25 Apr 2025
DYNUS: Uncertainty-aware Trajectory Planner in Dynamic Unknown Environments Kota Kondo Mason Peterson Nicholas Rober Juan Rached Viso Lucas Jia Jialin Chen Harvey Merton Jonathan P. How 40 0 0 23 Apr 2025
LL-Localizer: A Life-Long Localization System based on Dynamic i-Octree Xinyi Li Shenghai Yuan Haoxin Cai Shunan Lu Wenhua Wang Jianqi Liu 42 0 0 02 Apr 2025
SR-LIO++: Efficient LiDAR-Inertial Odometry and Quantized Mapping with Sweep Reconstruction Zikang Yuan Ruiye Ming Chengwei Zhao Yonghao Tan Pingcheng Dong H. Luo Yuzhong Jiao Xin-She Yang Kwang-Ting Cheng 30 0 0 29 Mar 2025
M2UD: A Multi-model, Multi-scenario, Uneven-terrain Dataset for Ground Robot with Localization and Mapping Evaluation Yanpeng Jia Shiyi Wang Shiliang Shao Yixuan Wang Fu Zhang Ting Wang 49 0 0 16 Mar 2025
MUSE: A Real-Time Multi-Sensor State Estimator for Quadruped Robots Ylenia Nisticò J. C. V. Soares Lorenzo Amatucci Geoff Fink Claudio Semini 46 1 0 15 Mar 2025
QLIO: Quantized LiDAR-Inertial Odometry Boyang Lou Shenghai Yuan Jianfei Yang Wenju Su Yingjian Zhang Enwen Hu 72 1 0 11 Mar 2025
AKF-LIO: LiDAR-Inertial Odometry with Gaussian Map by Adaptive Kalman Filter Xupeng Xie R. Geng Jun Ma Boyu Zhou 34 0 0 10 Mar 2025
T-CBF: Traversability-based Control Barrier Function to Navigate Vertically Challenging Terrain Manas Gupta Xuesu Xiao 64 0 0 08 Mar 2025
Adaptive-LIO: Enhancing Robustness and Precision through Environmental Adaptation in LiDAR Inertial Odometry Chengwei Zhao Kun Hu Jie Xu Lijun Zhao Baiwen Han Kaidi Wu Maoshan Tian Shenghai Yuan 47 3 0 07 Mar 2025
Balancing Act: Trading Off Doppler Odometry and Map Registration for Efficient Lidar Localization Katya M. Papais Daniil Lisus David J. Yoon A. Lambert K. Leung T. Barfoot 24 1 0 03 Mar 2025
BEV-LIO(LC): BEV Image Assisted LiDAR-Inertial Odometry with Loop Closure Haoxin Cai Shenghai Yuan Xinyi Li Junfeng Guo Jianqi Liu 54 3 0 26 Feb 2025
CTE-MLO: Continuous-time and Efficient Multi-LiDAR Odometry with Localizability-aware Point Cloud Sampling Hongming Shen Zhenyu Wu Yulin Hui Qiyang Lyu Huiqin Zhou Tianchen Deng Yeqing Zhu Bailing Tian Danwei W. Wang 63 3 0 17 Feb 2025
KN-LIO: Geometric Kinematics and Neural Field Coupled LiDAR-Inertial Odometry Zhong Wang Lele Ren Yue Wen Hesheng Wang AI4CE 30 0 0 08 Jan 2025
Continuous-Time State Estimation Methods in Robotics: A Survey William Talbot Julian Nubert Turcan Tuna Cesar Cadena Frederike Dumbgen J. Tordesillas T. Barfoot Marco Hutter 64 8 0 06 Nov 2024
Submodular Optimization for Keyframe Selection & Usage in SLAM David Thorne Nathan Chan Yanlong Ma Christa S. Robison Philip R. Osteen Brett T. Lopez 26 0 0 08 Oct 2024
Real-Time Truly-Coupled Lidar-Inertial Motion Correction and Spatiotemporal Dynamic Object Detection Cedric Le Gentil Raphael Falque Teresa Vidal-Calleja 31 4 0 07 Oct 2024
LiDAR Inertial Odometry And Mapping Using Learned Registration-Relevant Features Zihao Dong Jeff Pflueger Leonard Jung David Thorne Philip R. Osteen Christa S. Robison Brett T. Lopez Michael Everett 36 0 0 03 Oct 2024
Heterogeneous LiDAR Dataset for Benchmarking Robust Localization in Diverse Degenerate Scenarios Zhiqiang Chen Yuhua Qi Dapeng Feng Xuebin Zhuang Hongbo Chen Xiangcheng Hu Jin Wu Kelin Peng Peng Lu 41 3 0 08 Sep 2024
FAST-LIVO2: Fast, Direct LiDAR-Inertial-Visual Odometry Chunran Zheng Wenyuan Xu Zuhao Zou Tong Hua Chongjian Yuan ... Fangcheng Zhu Yunfan Ren Rong Wang Fanle Meng Fu Zhang 38 18 0 26 Aug 2024
AS-LIO: Spatial Overlap Guided Adaptive Sliding Window LiDAR-Inertial Odometry for Aggressive FOV Variation Tianxiang Zhang Xuanxuan Zhang Zongbo Liao Xin Xia You Li 16 5 0 21 Aug 2024
ATI-CTLO:Adaptive Temporal Interval-based Continuous-Time LiDAR-Only Odometry Bo Zhou Jiajie Wu Yan Pan Chuanzhao Lu 47 2 0 30 Jul 2024
From Underground Mines to Offices: A Versatile and Robust Framework for Range-Inertial SLAM Lorenzo Montano-Oliván Julio A. Placed Luis Montano María T. Lázaro 25 1 0 20 Jul 2024
HEROS: Hierarchical Exploration with Online Subregion Updating for 3D Environment Coverage Shijun Long Ying Li Chenming Wu Bin Xu Wei Fan 34 0 0 16 Jul 2024
LiDAR-Inertial Odometry Based on Extended Kalman Filter Naoki Akai Takumi Nakao 27 0 0 03 Jul 2024
IFTD: Image Feature Triangle Descriptor for Loop Detection in Driving Scenes Fengtian Lang Ruiye Ming Zikang Yuan Xin Yang 30 0 0 12 Jun 2024
NV-LIO: LiDAR-Inertial Odometry using Normal Vectors Towards Robust SLAM in Multifloor Environments Dongha Chung Jinwhan Kim 28 1 0 21 May 2024
A Standard Rigid Transformation Notation Convention for Robotics Research Philippe Nadeau 46 2 0 12 May 2024
LIKO: LiDAR, Inertial, and Kinematic Odometry for Bipedal Robots Qingrui Zhao Mingyuan Li Yongliang Shi Xuechao Chen Zhangguo Yu ... Zhe Fu Jintao Zhang Chao Li Yuanxi Zhang Qiang Huang 23 2 0 28 Apr 2024
Terrain-Attentive Learning for Efficient 6-DoF Kinodynamic Modeling on Vertically Challenging Terrain A. Datar Chenhui Pan Mohammad Nazeri Anuj Pokhrel Xuesu Xiao 35 14 0 25 Mar 2024
HCTO: Optimality-Aware LiDAR Inertial Odometry with Hybrid Continuous Time Optimization for Compact Wearable Mapping System Jianping Li Shenghai Yuan Muqing Cao Thien-Minh Nguyen Kun Cao Lihua Xie 18 26 0 21 Mar 2024
MCD: Diverse Large-Scale Multi-Campus Dataset for Robot Perception Thien-Minh Nguyen Shenghai Yuan T. Nguyen Peng Yin Haozhi Cao ... Maciej K. Wozniak Patric Jensfelt Mark Thiel Justin Ziegenbein Noel Blunder 33 37 0 18 Mar 2024
IMU as an Input vs. a Measurement of the State in Inertial-Aided State Estimation Keenan Burnett Angela P. Schoellig Timothy D. Barfoot 30 5 0 09 Mar 2024
Traj-LIO: A Resilient Multi-LiDAR Multi-IMU State Estimator Through Sparse Gaussian Process Xin Zheng Jianke Zhu 41 9 0 14 Feb 2024
Continuous-Time Radar-Inertial and Lidar-Inertial Odometry using a Gaussian Process Motion Prior Keenan Burnett Angela P. Schoellig Timothy D. Barfoot 43 12 0 09 Feb 2024
Online and Certifiably Correct Visual Odometry and Mapping Devansh R. Agrawal Rajiv G. Govindjee Jiangbo Yu Anurekha Ravikumar Dimitra Panagou 24 2 0 07 Feb 2024
LiDAR Odometry Survey: Recent Advancements and Remaining Challenges Dongjae Lee Minwoo Jung Wooseong Yang Ayoung Kim 46 43 0 29 Dec 2023
Saturation-Aware Angular Velocity Estimation: Extending the Robustness of SLAM to Aggressive Motions Simon-Pierre Deschênes Dominic Baril Matej Boxan Johann Laconte Philippe Giguère François Pomerleau 24 1 0 11 Oct 2023
Semi-Elastic LiDAR-Inertial Odometry Zikang Yuan Fengtian Lang Tianle Xu Ruiye Ming Chen-Ping Zhao Xin Yang 14 10 0 15 Jul 2023
Direct LiDAR-Inertial Odometry and Mapping: Perceptive and Connective SLAM Eason Chen Hanze Chen Yuen-Hsien Tseng 24 4 0 03 May 2023
Need for Speed: Fast Correspondence-Free Lidar-Inertial Odometry Using Doppler Velocity David J. Yoon Keenan Burnett Johann Laconte Yi Chen Heethesh Vhavle S. Kammel J. Reuther Timothy D. Barfoot 19 9 0 11 Mar 2023
Joint On-Manifold Gravity and Accelerometer Intrinsics Estimation for Inertially Aligned Mapping R. Nemiroff Kenny Chen B. Lopez 49 3 0 06 Mar 2023
A Contracting Hierarchical Observer for Pose-Inertial Fusion B. Lopez 14 7 0 05 Mar 2023
SR-LIO: LiDAR-Inertial Odometry with Sweep Reconstruction Zikang Yuan Fengtian Lang Tianle Xu Xin Yang 11 21 0 19 Oct 2022
Wildcat: Online Continuous-Time 3D Lidar-Inertial SLAM Milad Ramezani Kasra Khosoussi Gavin Catt Peyman Moghadam Jason L. Williams Paulo Borges Fred Pauling N. Kottege 37 50 0 25 May 2022
LOCUS 2.0: Robust and Computationally Efficient Lidar Odometry for Real-Time Underground 3D Mapping Andrzej Reinke M. Palieri B. Morrell Yun Chang K. Ebadi Luca Carlone Ali-akbar Agha-mohammadi 51 69 0 24 May 2022
Direct LiDAR Odometry: Fast Localization with Dense Point Clouds Kenny Chen B. Lopez Ali-akbar Agha-mohammadi Ankur M. Mehta 56 131 0 01 Oct 2021