Laser–visual–inertial odometry and mapping with high robustness and low drift - Zhang, Ji; Singh, Sanjiv (Journal of field robotics, 2018)
Keywords: 3D laser scanner; Data processing; Drift; Driving; ego‐motion estimation; Inertial platforms; inertial sensor; Kalman filters; mapping; Mechanization; Motion simulation; Multilayers; Odometers; Reconfiguration; Robustness; vision