Tightly Coupled Range Inertial Odometry and Mapping
with Exact Point Cloud Downsampling

IEEE International Conference on Robotics and Automation (ICRA2025)

Kenji Koide1

Aoki Takanose1

Shuji Oishi1

Masashi Yokozuka1

1National Institute of Advanced Industrial Science and Technology (AIST), Japan

Paper

Video


Supplementary video


Odometry estimation speed comparison

Trial on a Mini PC with an Intel N150