基于改进卡尔曼滤波的轻量级激光惯性里程计
罗钒睿,刘振宇,任佳辉,李笑宇,程阳
Lightweight LiDAR-IMU odometry based on improved Kalman filter
Fanrui LUO,Zhenyu LIU,Jiahui REN,Xiaoyu LI,Yang CHENG
表 1
KITTI运行的绝对位姿误差
Tab.1
Absolute pose error of KITTI operation
里程计算法
$ {\partial _{\max}} $
$ {\partial _{{\mathrm{mean}}}} $
$ {\partial _{{\mathrm{median}}}} $
$ {\partial _{{\mathrm{min}}}} $
$ {\partial _{{\mathrm{rmse}}}} $
FAST-LIO2
36.131
18.369
18.239
2.541
20.417
LCG-LIO不添加GPS
25.848
10.468
9.712
2.548
11.264
LCG-LIO
23.756
9.939
8.589
3.209
9.162