LIWO: LiDAR-Inertial-Wheel Odometry
Zikang Yuan,Fengtian Lang,Tianle Xu,Xin Yang,Zikang Yuan,Fengtian Lang,Tianle Xu,Xin Yang
LiDAR-inertial odometry (LIO), which fuses complementary information of a LiDAR and an Inertial Measurement Unit (IMU), is an attractive solution for state estimation. In LIO, both pose and velocity are regarded as state variables that need to be solved. However, the widely-used Iterative Closest Point (ICP) algorithm can only provide constraint for pose, while the velocity can only be constrained...
