hku-mars/Point-LIO

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Point-LIO 1. Introduction The framework and key points of the Point-LIO. New features: would not fly under degeneration. high odometry output frequency, 4k-8kHz. robust to IMU saturation and severe vibration, and other aggressive motions (75 rad/s in our test). no motion distortion. computationally efficient, robust, versatile on public datasets with general motions. As an odometry, Point-LIO could be used in various autonomous tasks, such as trajectory planning, control, and...