Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : May 29, 2024 - June 01, 2024
This report presents a portable LiDAR SLAM and localization system that integrates an IMU. The system utilizes Generalized ICP for scan matching and employs a hierarchical geometric observer for state updates, including IMU velocity and biases. We evaluate the system using publicly available datasets recorded with a portable LiDAR. Results demonstrate that our system can accurately estimate sensor ego-motion and effectively map environments.
