On the Derivation of Tightly-Coupled LiDAR-Inertial Odometry with VoxelMap
arXiv:2603.15471v2 Announce Type: replace
Abstract: This note presents a concise mathematical formulation of tightly-coupled LiDAR-Inertial Odometry within an iterated error-state Kalman filter framework using a VoxelMap representation. Rather than pr…