LIO-PPF: Fast LiDAR-Inertial Odometry via Incremental Plane Pre-Fitting and Skeleton Tracking
Xingyu Chen,Peixi Wu,Ge Li,Thomas H. Li,Xingyu Chen,Peixi Wu,Ge Li,Thomas H. Li
As a crucial infrastructure of intelligent mobile robots, LiDAR-Inertial odometry (LIO) provides the basic capability of state estimation by tracking LiDAR scans. The high-accuracy tracking generally involves the $k\text{NN}$ search, which is used with minimizing the point-to-plane distance. The cost for this, however, is maintaining a large local map and performing $k\text{NN}$ plane fit for each...
