PG-LIO fuses intensity-patch (photometric) and geometric LiDAR constraints with IMU preintegration in a factor graph, improving odometry accuracy in geometrically self-similar environments.
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PG-LIO: Photometric-Geometric fusion for Robust LiDAR-Inertial Odometry
PG-LIO fuses intensity-patch (photometric) and geometric LiDAR constraints with IMU preintegration in a factor graph, improving odometry accuracy in geometrically self-similar environments.