Super Odometry: IMU-centric LiDAR-Visual-Inertial Estimator for Challenging Environments
Shibo Zhao,Hengrui Zhang,Peng Wang,Lucas Nogueira,Sebastian Scherer,Shibo Zhao,Hengrui Zhang,Peng Wang,Lucas Nogueira,Sebastian Scherer
We propose Super Odometry, a high-precision multi-modal sensor fusion framework, providing a simple but effective way to fuse multiple sensors such as LiDAR, camera, and IMU sensors and achieve robust state estimation in perceptually-degraded environments. Different from traditional sensor-fusion methods, Super Odometry employs an IMU-centric data processing pipeline, which combines the advantages...
