A self-contained derivation unifies geometric modeling and probabilistic estimation for LiDAR-Inertial Odometry with VoxelMap representation.
The iterated kalman filter update as a gauss-newton method
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On the Derivation of Tightly-Coupled LiDAR-Inertial Odometry with VoxelMap
A self-contained derivation unifies geometric modeling and probabilistic estimation for LiDAR-Inertial Odometry with VoxelMap representation.