Adaptive Keyframe Generation based LiDAR Inertial Odometry for Complex Underground Environments
Boseong Kim,Chanyoung Jung,D. Hyunchul Shim,Ali–akbar Agha–mohammadi,Boseong Kim,Chanyoung Jung,D. Hyunchul Shim,Ali–akbar Agha–mohammadi
In this paper, we present a LiDAR Inertial Odometry (LIO) algorithm utilizing adaptive keyframe generation which achieves fast and accurate state estimation for aerial and ground robots. It is known that keyframe generation significantly affects the performance of Simultaneous Localization and Mapping (SLAM) algorithms. Unlike existing SLAM algorithms that generate keyframes based on fixed conditi...
