LINS: A Lidar-Inertial State Estimator for Robust and Efficient Navigation
Chao Qin,Haoyang Ye,Christian E. Pranata,Jun Han,Shuyang Zhang,Ming Liu,Chao Qin,Haoyang Ye,Christian E. Pranata,Jun Han,Shuyang Zhang,Ming Liu
We present LINS, a lightweight lidar-inertial state estimator, for real-time ego-motion estimation. The proposed method enables robust and efficient navigation for ground vehicles in challenging environments, such as feature-less scenes, via fusing a 6-axis IMU and a 3D lidar in a tightly-coupled scheme. An iterated error-state Kalman filter (ESKF) is designed to correct the estimated state recurs...
