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minwoo0611 / MA-LIO

Asynchronous Multiple LiDAR-Inertial Odometry using Point-wise Inter-LiDAR Uncertainty Propagation
GNU General Public License v2.0
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Do you have the arxiv version of the paper? #1

Closed Gatsby23 closed 1 year ago

minwoo0611 commented 1 year ago

The specified version has not yet been published on arXiv. We have recently completed the review process, and we anticipate being able to upload the preprint within the next month. Thank you for your inquiry.

Sincerely, Minwoo Jung

Gatsby23 commented 1 year ago

The specified version has not yet been published on arXiv. We have recently completed the review process, and we anticipate being able to upload the preprint within the next month. Thank you for your inquiry.

Sincerely, Minwoo Jung

Question about the Point-wise. Does it mean using the point-to-point constraint? It means you use the GICP to update the state instead of the original ICP in the FAST-LIO2？

minwoo0611 commented 1 year ago

In our paper, point-wise means assigning a unique uncertainty to each point. This uncertainty is used in the error state extended Kalman filter, and the measurement model is the same as in FAST-LIO2. In other words, we apply the point-to-plane model used in FAST-LIO2, but you can think of it as an added weight model according to the uncertainty.

Gatsby23 commented 1 year ago

Thank you for your patient guidance. I hope that your paper will be accepted by the reviewers as soon as possible.