Ali–akbar Agha–mohammadi

Adaptive Keyframe Generation based LiDAR Inertial Odometry for Complex Underground Environments

In this paper, we present a LiDAR Inertial Odometry (LIO) algorithm utilizing adaptive keyframe generation which achieves fast and accurate state estimation for aerial and ground robots. It is known that keyframe generation significantly affects the performance of Simultaneous Localization and Mappi…