KFS-LIO: Key-Feature Selection for Lightweight Lidar Inertial Odometry
Wei Li Yu Hu Yinhe Han Xiaowei Li Wei Li Yu Hu Yinhe Han Xiaowei Li
Feature-based lidar odometry methods have attracted increasing attention due to their low computational cost. However, theoretically analysis of the effect of extracted features on pose estimation is still lacked. In this paper, we propose a method of key-feature selection for lightweight lidar inertial odometry, KFS-LIO, to further enhance the real-time performance by selecting the most effective...