LiDAR-Inertial SLAM with Efficiently Extracted Planes
Chao Chen,Hangyu Wu,Yukai Ma,Jiajun Lv,Laijian Li,Yong Liu,Chao Chen,Hangyu Wu,Yukai Ma,Jiajun Lv,Laijian Li,Yong Liu
This paper proposes a LiDAR-Inertial SLAM with efficiently extracted planes, which couples explicit planes in the odometry to improve accuracy and in the mapping for consistency. The proposed method consists of three parts: an efficient Point $\boldsymbol{\rightarrow\text{Line}\rightarrow \text{Plane}}$ extraction algorithm, a LiDAR-Inertial-Plane tightly coupled odometry, and a global plane-aided...