Efficient Multi-sensor Aided Inertial Navigation with Online Calibration
Woosik Lee Yulin Yang Guoquan Huang Woosik Lee Yulin Yang Guoquan Huang
In this paper, we design a versatile multi-sensor aided inertial navigation system (MINS) that can efficiently fuse multi-modal measurements of IMU, camera, wheel encoder, GPS, and 3D LiDAR along with online spatiotemporal sensor calibration. Building upon our prior work [1] –[3], in this work we primarily focus on efficient LiDAR integration in a sliding-window filtering fashion. As each 3D LiDAR...