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 3
各模块的平均时间消耗
Tab.3
Average time consumption of each module
方法
N
p
t
1
/ms
t
2
/ms
t
/ms
FAST-LIO2
30156
0
30.012
30.012
LCG-LIO不添加GPS约束
5212
5.763
8.032
13.795
LCG-LIO
5212
5.763
8.343
14.106