HCTO: optimality-aware LiDAR inertial odometry with hybrid continuous time optimization for compact wearable mapping system

• Main Authors: Li, Jianping, Yuan, Shenghai, Cao, Muqing, Nguyen, Thien-Minh, Cao, Kun, Xie, Lihua
• Other Authors: School of Electrical and Electronic Engineering
• Format: Article
• Language: English
• Published: 2024
• Subjects: Engineering; 3D mapping; Wearable sensing
• Online Access: https://hdl.handle.net/10356/179421
• Institution: Nanyang Technological University

Compact wearable mapping system (WMS) has gained significant attention due to their convenience in various applications. Specifically, it provides an efficient way to collect prior maps for 3D structure inspection and robot-based “last-mile delivery” in complex environments. However, vibrations in h...