{"paper":{"title":"FR-LIO: Fast and Robust Lidar-Inertial Odometry by Tightly-Coupled Iterated Kalman Smoother and Robocentric Voxels","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Jun Liu, Xiaoyu Zhao, Yunzhou Zhang, Zhengnan He","submitted_at":"2023-02-08T13:07:35Z","abstract_excerpt":"This paper presents a fast lidar-inertial odometry (LIO) that is robust to aggressive motion. To achieve robust tracking in aggressive motion scenes, we exploit the continuous scanning property of lidar to adaptively divide the full scan into multiple partial scans (named sub-frames) according to the motion intensity. And to avoid the degradation of sub-frames resulting from insufficient constraints, we propose a robust state estimation method based on a tightly-coupled iterated error state Kalman smoother (ESKS) framework. Furthermore, we propose a robocentric voxel map (RC-Vox) to improve th"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2302.04031","kind":"arxiv","version":3},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2302.04031/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}