Piecewise Linear De-skewing for LiDAR Inertial Odometry

TL;DR

This paper introduces a piecewise linear de-skewing algorithm that leverages high-frequency IMU data to correct motion distortions in LiDAR inertial odometry, enhancing accuracy during fast movements.

Contribution

The paper presents a novel piecewise linear de-skewing method that improves LiDAR inertial odometry accuracy by effectively correcting motion distortions using IMU data.

Findings

Improves LIO performance during fast movements

Reduces motion distortion in LiDAR scans

Enhances accuracy of odometry algorithms

Abstract

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.