iG-LIO: An Incremental GICP-Based Tightly-Coupled LiDAR-Inertial Odometry.

Zijie Chen Yong Xu Shenghai Yuan Lihua Xie

Published in: IEEE Robotics Autom. Lett. (2024)

Keyphrases

tightly coupled
fine grained
loosely coupled
inertial sensors
general purpose
information gain
incremental learning
point cloud
dynamic model
high resolution
high level
kalman filter
lidar data
decision trees
incremental version
chi squared
dynamic environments
aerial imagery