LIO-PPF: Fast LiDAR-Inertial Odometry via Incremental Plane Pre-Fitting and Skeleton Tracking.
Xingyu ChenPeixi WuGe LiThomas H. LiPublished in: CoRR (2023)
Keyphrases
- inertial sensors
- kalman filter
- position estimation
- point cloud
- motion tracking
- kalman filtering
- sensor fusion
- point cloud data
- angular velocity
- incremental learning
- particle filter
- object tracking
- particle filtering
- three dimensional
- fitting method
- position and orientation
- shape analysis
- appearance model
- mean shift
- parameter estimation
- parametric models
- dynamic model
- model fitting
- motion segmentation
- lidar data
- binary images
- least squares
- real time