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2Fast-2Lamaa: Large-Scale Lidar-Inertial Localization and Mapping with Continuous Distance Fields
This paper introduces 2Fast-2Lamaa, a lidar-inertial state estimation framework for odometry, mapping, and localization. Its first key component is the optimization-based undistortion of lidar scans, which uses continuous IMU preintegration to model the system's pose at every lidar point timestamp.
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