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Versatile LiDAR-Inertial Odometry With SE(2) Constraints for Ground Vehicles.
Jiaying Chen
Han Wang
Minghui Hu
Ponnuthurai Nagaratnam Suganthan
Published in:
IEEE Robotics Autom. Lett. (2023)
Keyphrases
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constraint programming
dynamic model
high resolution
point cloud
constrained optimization
lidar data
inertial sensors