Piecewise Linear De-skewing for LiDAR Inertial Odometry [article]

John Henawy, Zhengguo Li, Wei Yun Yau, Gerald Seet, Kong Wah Wan
2021 arXiv   pre-print
Light detection and ranging (LiDAR) on a moving agent could suffer from motion distortion due to simultaneous rotation of the LiDAR and fast movement of the agent. An accurate piecewise linear de skewing algorithm is proposed to correct the motion distortions for LiDAR inertial odometry (LIO) using high frequency motion information provided by an Inertial Measurement Unit (IMU). Experimental results show that the proposed algorithm can be adopted to improve the performance of existing LIO algorithms especially in cases of fast movement.
arXiv:2108.06078v1 fatcat:umch2hqobbcbbevz2k5bqndbae