Piecewise Linear De-skewing for LiDAR Inertial Odometry
- Resource Type
- Conference
- Authors
- Henawy, John; Li, Zhengguo; Yau, Wei Yun; Seet, Gerald; Wan, Kong Wah
- Source
- 2021 IEEE International Intelligent Transportation Systems Conference (ITSC) Intelligent Transportation Systems Conference (ITSC),2021 IEEE International. :3766-3773 Sep, 2021
- Subject
- Communication, Networking and Broadcast Technologies
Computing and Processing
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Transportation
Laser radar
Measurement units
Conferences
Distortion
Distance measurement
High frequency
Intelligent transportation systems
- Language
Light detection and ranging (LiDAR) on a moving agent could suffer from motion distortion due to simultaneous rotation of the LiDAR and fast movement of the agent. An accurate piecewise linear de-skewing algorithm is proposed to correct the motion distortions for LiDAR inertial odometry (LIO) using high frequency motion information provided by an Inertial Measurement Unit (IMU). Experimental results show that the proposed algorithm can be adopted to improve the performance of existing LIO algorithms especially in cases of fast movement.