Zhi-Yong Zhou

UVP-LIO: Uncertainty-Aware Voxel-Plane Mapping for Robust LiDAR-Inertial Odometry

LiDAR SLAM relies on reliable geometric constraints to estimate sensor motion and maintain consistent maps in complex three-dimensional environments. Planar features are commonly used for LiDAR registration, but repeatedly fitting local planes from neighboring points brings extra computation and may be sensitive to noi...