Christian E. Pranata

LINS: A Lidar-Inertial State Estimator for Robust and Efficient Navigation

We present LINS, a lightweight lidar-inertial state estimator, for real-time ego-motion estimation. The proposed method enables robust and efficient navigation for ground vehicles in challenging environments, such as feature-less scenes, via fusing a 6-axis IMU and a 3D lidar in a tightly-coupled sc…