Globally Consistent and Tightly Coupled 3D LiDAR Inertial Mapping
Kenji Koide,Masashi Yokozuka,Shuji Oishi,Atsuhiko Banno,Kenji Koide,Masashi Yokozuka,Shuji Oishi,Atsuhiko Banno
This paper presents a real-time 3D mapping framework based on global matching cost minimization and LiDAR-IMU tight coupling. The proposed framework comprises a preprocessing module and three estimation modules: odometry estimation, local mapping, and global mapping, which are all based on the tight coupling of the GPU-accelerated voxelized GICP matching cost factor and the IMU preintegration fact...
