AS-LIO: Spatial Overlap Guided Adaptive Sliding Window LiDAR-Inertial Odometry for Aggressive FOV Variation
🔸AS-LIO is the **first** framework that evaluates pointcloud's **Spatial Overlap Degree** (SOD) to perceive FOV variation and adaptively **adjusts the frequency** for challenging motion scenario.
Oct 17, 2024
AC-LIO: Towards Asymptotic Compensation for Distortion in LiDAR-Inertial Odometry via Selective Intra-Frame Smoothing
🔸The **asymptotic compensation** is used to promote **consistent convergence** during Iterative ESKF. 🔸A **convergence criteria** from point-plane residuals is to control **backpropagation**.
Oct 16, 2024