CT-VoxelMap achieves more accurate and efficient continuous-time LiDAR-inertial odometry by estimating control point increments on Lie groups, using IMU data to correct B-spline fitting errors online, and managing a probabilistic adaptive voxel map with a re-estimation policy.
Log- lio2: A lidar-inertial odometry with efficient uncertainty analysis
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CT-VoxelMap: Efficient Continuous-Time LiDAR-Inertial Odometry with Probabilistic Adaptive Voxel Mapping
CT-VoxelMap achieves more accurate and efficient continuous-time LiDAR-inertial odometry by estimating control point increments on Lie groups, using IMU data to correct B-spline fitting errors online, and managing a probabilistic adaptive voxel map with a re-estimation policy.