SI_LIO is based on the Invariant-EKF theory and our code is implemented on S-FAST_LIO. Through theoretical analysis, it can be deduced that our IEKF-based estimation method achieves higher estimation accuracy compared to the Iterated EKF used in FAST-LIO2, particularly in scenarios with large IMU prediction errors.

SI_LIO is based on the Invariant-EKF theory and our code is implemented on S-FAST_LIO. Through theoretical analysis, it can be deduced that our IEKF-based estimation method achieves higher estimation accuracy compared to the Iterated EKF used in FAST-LIO2, particularly in scenarios with large IMU prediction errors.

2024年11月13日 · We propose a novel high-precision tightly-coupled LIO method, SI-LIO, based on the invariant extended Kalman filter with a single-iteration estimate update. This method utilizes the Lie exponential map between the matrix Lie group SE $_{4}(3)$ and its Lie algebra such that the linear approximations referring to Taylor expansions are only ...

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SI_LIO is based on the invariant-KF theory and our code is implemented on S-FAST_LIO. The accuracy is close to FAST-LIO2, but the speed is improved by 30%.

We propose a novel high-precision tightly-coupled LIO method, SI-LIO, based on the invariant extended Kalman filter with a single-iteration estimate update.

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Lìõ Sîî is on Facebook. Join Facebook to connect with Lìõ Sîî and others you may know. Facebook gives people the power to share and makes the world more...

2025年3月3日 · Fast-LIO（Fast LiDAR-Inertial Odometry）是一种高效的激光雷达-惯性里程计（LIO）算法，专为实时处理高频激光雷达数据而设计。 其核心思想是通过**迭代扩展卡尔曼滤波（iEKF） 结合 反向传播（Back Propagation）**技术，在保证精度的同时大幅提升计算效率。

2025年1月1日 · We propose a novel high-precision tightly-coupled LIO method, SI-LIO, based on the invariant extended Kalman filter with a single-iteration estimate update. This method utilizes the Lie exponential map between the matrix Lie group SE$_{4}(3)$ and its Lie algebra such that the linear approximations referring to Taylor expansions are only ...