Yahe Zhang

R-LIOM: Reflectivity-Aware LiDAR-Inertial Odometry and Mapping

With the advent of solid-state LiDAR, a series of related studies have boosted the development of Simultaneous Localization and Mapping (SLAM). However, existing methods cannot work well in indoor environments. In the letter, the reflectivity measurement of the solid-state LiDAR is exploited to impr