Continuous-Time LiDAR-Inertial-Vehicle Odometry Method with Lateral Acceleration Constraint
Bin He,Weichen Dai,Zeyu Wan,Hong Zhang,Yu Zhang,Bin He,Weichen Dai,Zeyu Wan,Hong Zhang,Yu Zhang
In this paper, we propose a continuous-time-based LiDAR-inertial-vehicle odometry method, which can tightly fuse the data from Light Detection And Ranging (LiDAR), inertial measurement units (IMU), and vehicle measurements. The lateral acceleration constraint is further added to trajectory estimation to make the estimated trajectory follow the motion characteristics of vehicles. In addition, since...
