Yuanzhou Liu

SI-LIO: High-Precision Tightly-Coupled LiDAR- Inertial Odometry via Single-Iteration Invariant Extended Kalman Filter

This letter focuses on the accuracy of LiDAR-inertial odometry (LIO). We propose a novel high-precision tightly-coupled LIO method, SI-LIO, based on the invariant extended Kalman filter with a single-iteration estimate update. This method utilizes the Lie exponential map between the matrix Lie group