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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"

31 / 31 papers shown

Title
DYNUS: Uncertainty-aware Trajectory Planner in Dynamic Unknown Environments Kota Kondo Mason B. Peterson Nicholas Rober Juan Rached Viso Lucas Jia Jialin Chen Harvey Merton Jonathan P. How 64 0 0 23 Apr 2025
MUSE: A Real-Time Multi-Sensor State Estimator for Quadruped Robots Ylenia Nisticò J. C. V. Soares Lorenzo Amatucci Geoff Fink Claudio Semini 106 2 0 15 Mar 2025
T-CBF: Traversability-based Control Barrier Function to Navigate Vertically Challenging Terrain Manas Gupta Xuesu Xiao 89 0 0 08 Mar 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 97 5 0 17 Feb 2025
KN-LIO: Geometric Kinematics and Neural Field Coupled LiDAR-Inertial Odometry Zhong Wang Lele Ren Yue Wen Hesheng Wang AI4CE 77 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 Timothy D. Barfoot Marco Hutter 123 11 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 105 0 0 08 Oct 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 93 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 63 0 0 16 Jul 2024
A Contracting Hierarchical Observer for Pose-Inertial Fusion B. Lopez 21 7 0 05 Mar 2023
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 102 51 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 102 70 0 24 May 2022
Multi-Camera LiDAR Inertial Extension to the Newer College Dataset Lintong Zhang Marco Camurri David Wisth Maurice F. Fallon 3DV 71 46 0 16 Dec 2021
Direct LiDAR Odometry: Fast Localization with Dense Point Clouds Kenny Chen B. Lopez Ali-akbar Agha-mohammadi Ankur M. Mehta 96 138 0 01 Oct 2021
CT-ICP: Real-time Elastic LiDAR Odometry with Loop Closure Pierre Dellenbach Jean-Emmanuel Deschaud Bastien Jacquet Franccois Goulette 54 182 0 27 Sep 2021
FAST-LIO2: Fast Direct LiDAR-inertial Odometry Wei Xu Yixi Cai Dongjiao He Jiarong Lin Fu Zhang 46 875 0 14 Jul 2021
Lidar Scan Registration Robust to Extreme Motions Simon-Pierre Deschênes Dominic Baril V. Kubelka Philippe Giguère F. Pomerleau 3DPC 59 12 0 03 May 2021
MILIOM: Tightly Coupled Multi-Input Lidar-Inertia Odometry and Mapping Thien-Minh Nguyen Shenghai Yuan Muqing Cao Lyun-Ho Yang T. Nguyen Lihua Xie 55 39 0 24 Apr 2021
LVI-SAM: Tightly-coupled Lidar-Visual-Inertial Odometry via Smoothing and Mapping Tixiao Shan Brendan Englot C. Ratti Daniela Rus 69 329 0 22 Apr 2021
MULLS: Versatile LiDAR SLAM via Multi-metric Linear Least Square Yue Pan Pengchuan Xiao Yujie He Zhenlei Shao Zesong Li 62 171 0 07 Feb 2021
LION: Lidar-Inertial Observability-Aware Navigator for Vision-Denied Environments Andrea Tagliabue J. Tordesillas Xiaoyi Cai Angel Santamaria-Navarro Jonathan P. How Luca Carlone Ali-akbar Agha-mohammadi 68 54 0 05 Feb 2021
LOCUS: A Multi-Sensor Lidar-Centric Solution for High-Precision Odometry and 3D Mapping in Real-Time M. Palieri B. Morrell A. Thakur K. Ebadi J. Nash Arghya Chatterjee C. Kanellakis Luca Carlone C. Guaragnella A. Agha-mohammadi 73 120 0 28 Dec 2020
FAST-LIO: A Fast, Robust LiDAR-inertial Odometry Package by Tightly-Coupled Iterated Kalman Filter Wenyuan Xu Fu Zhang 95 630 0 16 Oct 2020
Elasticity Meets Continuous-Time: Map-Centric Dense 3D LiDAR SLAM Chanoh Park Peyman Moghadam Jason L. Williams Soohwan Kim Sridha Sridharan Clinton Fookes 32 47 0 05 Aug 2020
LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping Tixiao Shan Brendan Englot Drew Meyers Wei Wang C. Ratti Daniela Rus 66 1,338 0 01 Jul 2020
The Newer College Dataset: Handheld LiDAR, Inertial and Vision with Ground Truth Milad Ramezani Yiduo Wang Marco Camurri David Wisth Matías Mattamala Maurice F. Fallon 3DV 130 196 0 12 Mar 2020
Tightly Coupled 3D Lidar Inertial Odometry and Mapping Haoyang Ye Yuying Chen Ming-Yuan Liu 56 430 0 15 Apr 2019
Efficient Continuous-Time SLAM for 3D Lidar-Based Online Mapping David Droeschel Sven Behnke 43 176 0 16 Oct 2018
Elastic LiDAR Fusion: Dense Map-Centric Continuous-Time SLAM Chanoh Park Peyman Moghadam Soohwan Kim A. Elfes Clinton Fookes Sridha Sridharan 43 87 0 06 Nov 2017
Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age Cesar Cadena Luca Carlone Henry Carrillo Yasir Latif Davide Scaramuzza José Neira Ian Reid J. Leonard 118 2,926 0 19 Jun 2016
On-Manifold Preintegration for Real-Time Visual-Inertial Odometry Christian Forster Luca Carlone F. Dellaert Davide Scaramuzza 75 1,102 0 08 Dec 2015