LiDAR-Inertial 3D SLAM with Plane Constraint for Multi-story Building.

Jiashi Zhang Chengyang Zhang Jun Wu Jianxiang Jin Qiuguo Zhu

Published in: CoRR (2022)

Keyphrases

lidar data
three dimensional
real time
mobile robot
dynamic model
particle filter
urban areas
simultaneous localization and mapping
augmented reality
indoor environments
ground plane
linear constraints
aerial imagery
map building
angular velocity