LIO-PPF: Fast LiDAR-Inertial Odometry via Incremental Plane Pre-Fitting and Skeleton Tracking.
Xingyu ChenPeixi WuGe LiThomas H. LiPublished in: IROS (2023)
Keyphrases
- inertial sensors
- kalman filter
- position estimation
- particle filter
- motion tracking
- real time
- high resolution
- least squares
- point cloud
- point cloud data
- angular velocity
- sensor fusion
- position and orientation
- shape representation
- appearance model
- parametric models
- active appearance models
- medial axis
- markerless
- motion sequences
- incremental learning
- motion analysis
- mean shift