EllipseLIO presents an adaptive real-time LIO method using ellipsoid-based LiDAR scan filtering and registration that achieves lower average odometry error and avoids divergence across five diverse datasets without scenario-specific tuning.
FAST-LIO2: Fast Direct LiDAR- inertial Odometry,
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EllipseLIO: Adaptive LiDAR Inertial Odometry with an Ellipsoid Representation
EllipseLIO presents an adaptive real-time LIO method using ellipsoid-based LiDAR scan filtering and registration that achieves lower average odometry error and avoids divergence across five diverse datasets without scenario-specific tuning.