[IEEE ICRA'23] A new lightweight LiDAR-inertial odometry algorithm with a novel coarse-to-fine approach in constructing continuous-time trajectories for precise motion correction.
Hi,thank you for publishing a so good lio framework!
I have some questions about the timestamp in function integrateImu().I think the start_time means the first point's timestamp, but you use prev_scan_stamp (the medium timestamp of last scan) in function deskewPointcloud(). Could you please explain?
Hi,thank you for publishing a so good lio framework! I have some questions about the timestamp in function integrateImu().I think the start_time means the first point's timestamp, but you use prev_scan_stamp (the medium timestamp of last scan) in function deskewPointcloud(). Could you please explain?