COIN-LIO: Complementary Intensity-Augmented LiDAR Inertial Odometry
Patrick Pfreundschuh,Helen Oleynikova,Cesar Cadena,Roland Siegwart,Olov Andersson,Patrick Pfreundschuh,Helen Oleynikova,Cesar Cadena,Roland Siegwart,Olov Andersson
We present COIN-LIO, a LiDAR Inertial Odometry pipeline that tightly couples information from LiDAR intensity with geometry-based point cloud registration. The focus of our work is to improve the robustness of LiDAR-inertial odometry in geometrically degenerate scenarios, like tunnels or flat fields. We project LiDAR intensity returns into an image, and present a novel image processing pipeline th...
