A LiDAR-inertial odometry pipeline using on-manifold ellipsoidal set-membership filtering to output feasible sets as deterministic protection levels under unknown-but-bounded point-cloud noise.
IEEE Transactions on Robotics , author=
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Safety-Critical LiDAR-Inertial Odometry with On-Manifold Deterministic Protection Level
A LiDAR-inertial odometry pipeline using on-manifold ellipsoidal set-membership filtering to output feasible sets as deterministic protection levels under unknown-but-bounded point-cloud noise.