Lucia Coto-Elena

D-LIO: 6DoF Direct LiDAR-Inertial Odometry Based on Simultaneous Truncated Distance Field Mapping

This paper presents a new approach for 6DoF Direct LiDAR-Inertial Odometry (D-LIO) based on the simultaneous mapping of truncated distance fields on CPU. Such continuous representation (in the vicinity of the points) enables working with raw 3D LiDAR data online, avoiding the need of LiDAR feature s…