{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/tightly-coupled-3d-lidar-inertial-odometry","title":"Tightly Coupled 3D Lidar Inertial Odometry and Mapping","arxiv_id":"1904.06993","date":"2019-04-15","proceeding":null,"authors":["Haoyang Ye","Yuying Chen","Ming Liu"],"abstract":"Ego-motion estimation is a fundamental requirement for most mobile robotic\napplications. By sensor fusion, we can compensate the deficiencies of\nstand-alone sensors and provide more reliable estimations. We introduce a\ntightly coupled lidar-IMU fusion method in this paper. By jointly minimizing\nthe cost derived from lidar and IMU measurements, the lidar-IMU odometry (LIO)\ncan perform well with acceptable drift after long-term experiment, even in\nchallenging cases where the lidar measurements can be degraded. Besides, to\nobtain more reliable estimations of the lidar poses, a rotation-constrained\nrefinement algorithm (LIO-mapping) is proposed to further align the lidar poses\nwith the global map. The experiment results demonstrate that the proposed\nmethod can estimate the poses of the sensor pair at the IMU update rate with\nhigh precision, even under fast motion conditions or with insufficient\nfeatures.","url_abs":"http://arxiv.org/abs/1904.06993v1","url_pdf":"http://arxiv.org/pdf/1904.06993v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"tightly-coupled-3d-lidar-inertial-odometry","repo_url":"https://github.com/hyye/lio-mapping","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":null}],"tasks":[{"task_slug":"motion-estimation","task_name":"Motion Estimation"},{"task_slug":"sensor-fusion","task_name":"Sensor Fusion"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}