Gu Changjun

R2-LIO: Real-Time and Robust LiDAR-Inertial Odometry in Dynamic Environments

LiDAR-Inertial Odometry (LIO) is crucial for robot navigation and autonomous driving. Most existing methods rely on the assumption of a static environment, indiscriminately using all LiDAR measurements for localization. However, LiDAR data acquired in urban scenes often contain dynamic objects such …