Modeling the residual distortion of each LiDAR point as a per-point covariance and using it in matching and residual weighting reduces odometry error under intense vibration.
Coco-lic: Continuous-time tightly-coupled lidar-inertial-camera odometry using non-uniform b-spline,
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Vibration-aware Lidar-Inertial Odometry based on Point-wise Post-Undistortion Uncertainty
Modeling the residual distortion of each LiDAR point as a per-point covariance and using it in matching and residual weighting reduces odometry error under intense vibration.