FAST-LIO2: Fast Direct LiDAR-Inertial Odometry

This article presents FAST-LIO2: a fast, robust, and versatile LiDAR-inertial odometry framework. Building on a highly efficient tightly coupled iterated Kalman filter, FAST-LIO2 has two key novelties that allow fast, robust, and accurate LiDAR navigation (and mapping). The first one is directly reg...

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Bibliographic Details
Published in:IEEE transactions on robotics 2022-08, Vol.38 (4), p.2053-2073
Main Authors: Xu, Wei, Cai, Yixi, He, Dongjiao, Lin, Jiarong, Zhang, Fu
Format: Article
Language:English
Subjects:
Accuracy
Aerial systems
Data structures
Feature extraction
Indoor environments
Inertial navigation
Kalman filters
Laser radar
Lidar
Mapping
Navigation systems
Octrees
Point cloud compression
Pose estimation
Real-time systems
Robots
Robustness
sensor fusion
simultaneous localization and mapping (SLAM)
Solid state
Unmanned aerial vehicles
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