Inertial Aided 3D LiDAR SLAM with Hybrid Geometric Primitives in Large-scale Environments
Wen Chen Hongchao Zhao Qi Shen Chao Xiong Shunbo Zhou Yun-Hui Liu Wen Chen Hongchao Zhao Qi Shen Chao Xiong Shunbo Zhou Yun-Hui Liu
This paper presents a comprehensive inertial aided 3D LiDAR SLAM system with hybrid geometric primitives in large-scale environments, including a tightly-coupled LiDAR-Inertial-Odometry (LIO), a global mapping module supported by learning-based loop closure detection and a sub-maps matching algorithm. An efficient method is developed to simultaneously extract explicit plane features and point feat...