Author

Junning Lyu

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Preprint Jul 2026

WNOJ-LIO: A White-Noise-on-Jerk Motion-Prior EKF for High-Dynamic LiDAR-IMU Fusion

LiDAR-inertial odometry (LIO) is a key component of autonomous navigation, but high-dynamic driving exposes two coupled challenges: intra-scan motion distortion and vibration-contaminated inertial measurements. Most real-time LiDAR-inertial pipelines propagate the system state by integrating raw IMU measurements and th...

Junning Lyu, Qizhi Guo, Xia Ning et al. · 0 citations