2025
Vibration-Aware Lidar-Inertial Odometry Based on Point-Wise Post-Undistortion Uncertainty
RA-L 2025
High-speed ground robots moving on unstructured terrains generate intense high-frequency vibrations, leading to LiDAR scan distortions in Lidar-inertial odometry (LIO). Accurate and efficient undistortion is extremely challenging due to (1) rapid and non-smooth state changes during intense vibration