Hekai Yao

MUP-LIO: Mapping Uncertainty-aware Point-wise Lidar Inertial Odometry

This paper proposes a mapping uncertainty-aware point-wise Lidar Inertial Odometry (LIO), which synthesizes the point-wise point-to-plane match and map refreshment into a probabilistic model. As a result, it can address the issue of mismatching during point registration and remove in-frame motion di…