GaRLIO uses radar Doppler velocity measurements to estimate gravity and reduce vertical drift in LiDAR-inertial odometry, outperforming three LIO baselines on public datasets.
LINS: A lidar-inertial state estimator for robust and efficient navigation,
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GaRLIO: Gravity enhanced Radar-LiDAR-Inertial Odometry
GaRLIO uses radar Doppler velocity measurements to estimate gravity and reduce vertical drift in LiDAR-inertial odometry, outperforming three LIO baselines on public datasets.