A Tightly Coupled LiDAR-IMU Odometry through Iterated Point-Level Undistortion

TL;DR

This paper introduces an optimization-based LiDAR-IMU odometry method that iteratively undistorts points at a fine level, improving accuracy and robustness in high-speed, dynamic environments.

Contribution

It presents a novel tightly coupled odometry approach with iterated point-level undistortion, enhancing performance over traditional one-pass methods.

Findings

More accurate odometry in high dynamic environments

Robust performance with limited parameters

Efficient computation through parameter optimization

Abstract

Scan undistortion is a key module for LiDAR odometry in high dynamic environment with high rotation and translation speed. The existing line of studies mostly focuses on one pass undistortion, which means undistortion for each point is conducted only once in the whole LiDAR-IMU odometry pipeline. In this paper, we propose an optimization based tightly coupled LiDAR-IMU odometry addressing iterated point-level undistortion. By jointly minimizing the cost derived from LiDAR and IMU measurements, our LiDAR-IMU odometry method performs more accurate and robust in high dynamic environment. Besides, the method characters good computation efficiency by limiting the quantity of parameters.