Mancheng Xiao

SCE-LIO: An Enhanced LiDAR Inertial Odometry by Constructing Submap Constraints

In LiDAR-based Simultaneous Localization and Mapping (SLAM) systems, loop closure detection is crucial for enhancing the accuracy of odometry. However, constraints from loop closure detection are only provided when a loop is detected and can only enhance odometry accuracy at specific moments. Theref