DAMS-LIO: A Degeneration-Aware and Modular Sensor-Fusion LiDAR-inertial Odometry
Fuzhang Han,Han Zheng,Wenjun Huang,Rong Xiong,Yue Wang,Yanmei Jiao,Fuzhang Han,Han Zheng,Wenjun Huang,Rong Xiong,Yue Wang,Yanmei Jiao
With robots being deployed in increasingly complex environments like underground mines and planetary surfaces, the multi-sensor fusion method has gained more and more attention which is a promising solution to state estimation in the such scene. The fusion scheme is a central component of these methods. In this paper, a light-weight iEKF-based LiDAR-inertial odometry system is presented, which uti...
