Junning Lyu

WNOJ-LIO: A White-Noise-on-Jerk Motion-Prior EKF for High-Dynamic LiDAR-IMU Fusion

Junning Lyu, Qizhi Guo, Xia Ning, Tao Song, Shaoming He

LiDAR-inertial odometry (LIO) is a key component of autonomous navigation, but high-dynamic driving exposes two coupled challenges: intra-scan motion distortion and vibration-contaminated inertial measurements. Most real-time LiDAR-inertial pipelines propagate the system state by…Read more