CLINS: Continuous-Time Trajectory Estimation for LiDAR-Inertial System
Jiajun Lv,Kewei Hu,Jinhong Xu,Yong Liu,Xiushui Ma,Xingxing Zuo,Jiajun Lv,Kewei Hu,Jinhong Xu,Yong Liu,Xiushui Ma,Xingxing Zuo
In this paper, we propose a highly accurate continuous-time trajectory estimation framework dedicated to SLAM (Simultaneous Localization and Mapping) applications, which enables fuse high-frequency and asynchronous sensor data effectively. We apply the proposed framework in a 3D LiDAR-inertial system for evaluations. The proposed method adopts a non-rigid registration method for continuous-time tr...
