IEEE Transactions on Robotics· 2022Q1
FAST-LIO2: Fast Direct LiDAR-Inertial Odometry
- 1,495citations
- Q1SCImago
- 2022year
Short summary
FAST-LIO2 achieves higher accuracy and lower computation load than state-of-the-art LiDAR-inertial systems by directly registering raw LiDAR points to the map and using an incremental k-d tree (ikd-Tree) for efficient map maintenance.
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