Swarm-LIO: Decentralized Swarm LiDAR-inertial Odometry
Fangcheng Zhu,Yunfan Ren,Fanze Kong,Huajie Wu,Siqi Liang,Nan Chen,Wei Xu,Fu Zhang,Fangcheng Zhu,Yunfan Ren,Fanze Kong,Huajie Wu,Siqi Liang,Nan Chen,Wei Xu,Fu Zhang
Accurate self and relative state estimation are the critical preconditions for completing swarm tasks, e.g., collaborative autonomous exploration, target tracking, search and rescue. This paper proposes Swarm-LIO: a fully decentralized state estimation method for aerial swarm systems, in which each drone performs precise ego-state estimation, exchanges ego-state and mutual observation information ...
