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 2 自己采集的数据集运行回环误差

Tab.2 Self collected dataset running loopback error

里程计算法 $ \Delta x $ $ \Delta y $ $ \Delta z $ 总体回环误差 LIO-SAM 0.120 0.241 0.880 0.920 LCG-LIO 0.040 0.033 0.003 0.052