Gravity-constrained point cloud registration
Vladimír Kubelka,Maxime Vaidis,François Pomerleau,Vladimír Kubelka,Maxime Vaidis,François Pomerleau
Visual and lidar Simultaneous Localization and Mapping (SLAM) algorithms benefit from the Inertial Measurement Unit (IMU) modality. The high-rate inertial data complement the other lower-rate modalities. Moreover, in the absence of constant acceleration, the gravity vector makes two attitude angles out of three observable in the global coordinate frame. In visual odometry, this is already being us...
