A LiDAR-inertial odometry pipeline supplies deterministic feasible sets as protection levels by linking ICP point-cloud noise to pose uncertainty via a closed-form relation and propagating it with an on-manifold ellipsoidal set-membership filter.
MARS-LVIG dataset: A multi-sensor aerial robots SLAM dataset for LiDAR-visual-inertial-GNSS fusion , volume=
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A self-contained derivation unifies geometric modeling and probabilistic estimation for LiDAR-Inertial Odometry with VoxelMap representation.
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Safety-Critical LiDAR-Inertial Odometry with On-Manifold Deterministic Protection Level
A LiDAR-inertial odometry pipeline supplies deterministic feasible sets as protection levels by linking ICP point-cloud noise to pose uncertainty via a closed-form relation and propagating it with an on-manifold ellipsoidal set-membership filter.
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On the Derivation of Tightly-Coupled LiDAR-Inertial Odometry with VoxelMap
A self-contained derivation unifies geometric modeling and probabilistic estimation for LiDAR-Inertial Odometry with VoxelMap representation.