A Tightly Coupled LiDAR-IMU Odometry through Iterated Point-Level Undistortion
This work addresses scan undistortion for LiDAR odometry in high dynamic environments, representing an incremental improvement over existing methods.
The paper tackles the problem of LiDAR odometry in high dynamic environments by proposing an optimization-based tightly coupled LiDAR-IMU odometry with iterated point-level undistortion, resulting in more accurate and robust performance.
Scan undistortion is a key module for LiDAR odometry in high dynamic environment with high rotation and translation speed. The existing line of studies mostly focuses on one pass undistortion, which means undistortion for each point is conducted only once in the whole LiDAR-IMU odometry pipeline. In this paper, we propose an optimization based tightly coupled LiDAR-IMU odometry addressing iterated point-level undistortion. By jointly minimizing the cost derived from LiDAR and IMU measurements, our LiDAR-IMU odometry method performs more accurate and robust in high dynamic environment. Besides, the method characters good computation efficiency by limiting the quantity of parameters.