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

图 4 GPS约束和伪轨迹加权的示意图

Fig.4 Schematic diagram of GPS constraints and pseudo trajectory weighting