AdaLIO: Robust Adaptive LiDAR-Inertial Odometry in Degenerate Indoor Environments.
Hyungtae LimDaebeom KimBeomsoo KimHyun MyungPublished in: CoRR (2023)
Keyphrases
- indoor environments
- inertial sensors
- mobile robot
- simultaneous localization and mapping
- sensor fusion
- point cloud
- monocular vision
- lidar data
- path planning
- laser range data
- dynamic model
- position and orientation
- urban areas
- laser range finder
- robotic systems
- motion tracking
- indoor localization
- autonomous mobile robots
- topological map
- outdoor environments
- motion sequences
- fall detection
- position estimation
- navigation tasks
- kalman filter
- three dimensional
- mobile robotics
- calibration method