Wanguo Wang

RI-LIO: Reflectivity Image Assisted Tightly-Coupled LiDAR-Inertial Odometry

In this letter, we propose RI-LIO, a new reflectivity image assisted tightly-coupled LiDAR-inertial odometry (LIO) framework that introduces additional reflectivity texture information to efficiently reduce the drift of geometric-only methods. To achieve this, we construct an iterated extended Kalma