Zonghai Chen

HT-LIO: Robust Hybrid Multiscale Planar and Thickness-Constrained LiDAR–Inertial Odometry for Pose Measurement

This article presents HT-LiDAR–inertial odometry (LIO), a hybrid multiscale planar LIO framework for robust pose measurement across environments with heterogeneous geometric structures. HT-LIO maintains a large-scale planar voxel map for stable planar structures and a sparse support voxel map that constructs small-scal...