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

• المؤلفون الرئيسيون: Li, Jianping, Yuan, Shenghai, Cao, Muqing, Nguyen, Thien-Minh, Cao, Kun, Xie, Lihua
• مؤلفون آخرون: School of Electrical and Electronic Engineering
• التنسيق: مقال
• اللغة: English
• منشور في: 2024
• الموضوعات: Engineering; 3D mapping; Wearable sensing
• الوصول للمادة أونلاين: https://hdl.handle.net/10356/179421
• المؤسسة: 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...