发表机构
Centre for Automation and Robotics C.A.R. (UPM-CSIC), Universidad Politécnica de Madrid（马德里理工大学自动化与机器人技术中心C.A.R.（马德里理工大学-西班牙科学研究委员会））
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
研究针对开源LIO系统在无人机应用时的不足，识别其架构缺陷，通过IMU速率前向传播等改进，提升里程计输出频率至200Hz，保持数据连续性，经无人机实验验证，改进可直接用于FAST-LIO2相关实现。
AI 中文摘要
开源激光雷达惯性里程计（LIO）系统在基准测试中已取得显著精度，但当前的先进实现主要针对评估性能进行优化，而非实时闭环空中控制的要求。这在部署于无人机时会带来限制并降低飞行性能。本文识别了基于IESKF的典型紧密耦合LIO实现中的五个架构缺陷，并引入相应修改，包括IMU速率前向传播、直接体坐标系速度发布、基于SLERP的平滑处理、双执行器隔离和显式同步保护。改进后的系统将里程计输出从约10Hz提高到稳定的200Hz，在每个IMU样本处提供完整的Twist状态，并在激光雷达瞬态丢失期间保持连续性。在配备运动捕捉地面真值的Livox Mid-360 / Pixhawk 4 Mini自主无人机上的实验验证了该方法。由于底层估计器（IESKF + ikd-Tree）保持不变，所提出的改进可直接应用于源自FAST-LIO2的实现。
英文摘要
Open-source LiDAR-inertial odometry (LIO) systems have achieved remarkable benchmark accuracy, yet current state-of-the-art implementations are primarily optimized for evaluation performance rather than the requirements of real-time closed-loop aerial control. When deployed onboard UAVs, this can introduce limitations that degrade flight performance. In this work, we identify five architectural deficiencies in a representative tightly coupled IESKF-based LIO implementation: odometry publishing tied to the LiDAR rate (10 Hz instead of the IMU's 200 Hz), missing velocity outputs, execution bottlenecks that block IMU processing, mutex contention, and synchronization race conditions. We introduce corresponding modifications including IMU-rate forward propagation, direct body-frame velocity publishing, SLERP-based smoothing, dual-executor isolation, and explicit synchronization protection. The resulting system increases odometry output from ~10 Hz to a stable 200 Hz, provides a complete Twist state at every IMU sample, and preserves continuity during transient LiDAR loss. Experiments on a Livox Mid-360 / Pixhawk 4 Mini autonomous UAV with motion-capture ground truth validate the approach. Since the underlying estimator (IESKF + ikd-Tree) remains unchanged, the proposed improvements can be directly applied to FAST-LIO2-derived implementations.
Comments7 pages, 5 figures, Accepted in IMAV 2026
