RF-LIO: Removal-First Tightly-coupled Lidar Inertial Odometry in High Dynamic Environments

• Published in: arXiv.org
• Main Authors: Qian, Chenglong, Xiang, Zhaohong, Wu, Zhuoran, Sun, Hongbin
• Format: Paper
• Language: English
• Published: Ithaca Cornell University Library, arXiv.org 19.06.2022
• Subjects: Datasets; Intelligent vehicles; Lidar; Localization; Object motion

Simultaneous Localization and Mapping (SLAM) is considered to be an essential capability for intelligent vehicles and mobile robots. However, most of the current lidar SLAM approaches are based on the assumption of a static environment. Hence the localization in a dynamic environment with multiple m...