Robust Real-time LiDAR-inertial Initialization
Fangcheng Zhu,Yunfan Ren,Fu Zhang,Fangcheng Zhu,Yunfan Ren,Fu Zhang
For most LiDAR-inertial odometry, accurate initial states, including temporal offset and extrinsic transfor-mation between LiDAR and 6-axis IMUs, play a significant role and are often considered as prerequisites. However, such information may not be always available in customized LiDAR-inertial systems. In this paper, we propose LI-Init: a full and real-time LiDAR-inertial system initialization pr...
