Computer Science > Robotics
[Submitted on 4 Feb 2024 (v1), last revised 7 Jun 2024 (this version, v3)]
Title:Eigen Is All You Need: Efficient Lidar-Inertial Continuous-Time Odometry with Internal Association
View PDF HTML (experimental)Abstract:In this paper, we propose a continuous-time lidar-inertial odometry (CT-LIO) system named SLICT2, which promotes two main insights. One, contrary to conventional wisdom, CT-LIO algorithm can be optimized by linear solvers in only a few iterations, which is more efficient than commonly used nonlinear solvers. Two, CT-LIO benefits more from the correct association than the number of iterations. Based on these ideas, we implement our method with a customized solver where the feature association process is performed immediately after each incremental step, and the solution can converge within a few iterations. Our implementation can achieve real-time performance with a high density of control points while yielding competitive performance in highly dynamical motion scenarios. We demonstrate the advantages of our method by comparing with other existing state-of-the-art CT-LIO methods. The source code will be released for the benefit of the community.
Submission history
From: Thien-Minh Nguyen [view email][v1] Sun, 4 Feb 2024 04:20:18 UTC (3,346 KB)
[v2] Wed, 29 May 2024 10:24:20 UTC (3,346 KB)
[v3] Fri, 7 Jun 2024 04:22:10 UTC (3,346 KB)
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