Piecewise Linear De-skewing for LiDAR Inertial Odometry
Institute for Infocomm Research, A-STAR（新加坡科技研究局信息通信研究院）；Nanyang Technological University（南洋理工大学）
英文摘要：
Light detection and ranging (LiDAR) on a moving agent could suffer from motion distortion due to simultaneous rotation of the LiDAR and fast movement of the agent. An accurate piecewise linear de skewing algorithm is proposed to correct the motion distortions for LiDAR inertial odometry (LIO) using high frequency motion information provided by an Inertial Measurement Unit (IMU). Experimental results show that the proposed algorithm can be adopted to improve the performance of existing LIO algorithms especially in cases of fast movement.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
