"Time Delay Error Online Correction of LiDAR-IMU System Through MSCKF I" by Wanli Liu, Zhixiong Li et al.
When fusing the measurement data with different sampling frequencies from the light detection and ranging (LiDAR) and inertial measurement unit (IMU), their timestamps should be exactly aligned. However, in reality the timestamps of LiDAR and IMU are typically subject to different influences, which will inevitably generate the time delay error to reduce the accuracy and robustness of the LiDAR-IMU system. To this avail, this article proposes a new method that integrates the double layer recurrent neural network (DLRNN) and multistate constrained Kalman filter (MSCKF) to online correct the LiDA...
Source: uow.edu.au