BIEVR-LIO improves robustness of LiDAR-inertial odometry by representing maps as voxel-wise oriented height images and sampling points only from geometrically informative regions.
Mars-lvig dataset: A multi-sensor aerial robots slam dataset for lidar-visual-inertial-gnss fusion.The International Journal of Robotics Research, 43(8):1114–1127, 2024
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BIEVR-LIO: Robust LiDAR-Inertial Odometry through Bump-Image-Enhanced Voxel Maps
BIEVR-LIO improves robustness of LiDAR-inertial odometry by representing maps as voxel-wise oriented height images and sampling points only from geometrically informative regions.