Need for Speed: Fast Correspondence-Free Lidar-Inertial Odometry Using Doppler Velocity
David J. Yoon,Keenan Burnett,Johann Laconte,Yi Chen,Heethesh Vhavle,Soeren Kammel,James Reuther,Timothy D. Barfoot,David J. Yoon,Keenan Burnett,Johann Laconte,Yi Chen,Heethesh Vhavle,Soeren Kammel,James Reuther,Timothy D. Barfoot
In this paper, we present a fast, lightweight odometry method that uses the Doppler velocity measurements from a Frequency-Modulated Continuous-Wave (FMCW) lidar without data association. FMCW lidar is a recently emerging technology that enables per-return relative radial velocity measurements via the Doppler effect. Since the Doppler measurement model is linear with respect to the 6-degrees-of-fr...
