Author

David Pérez-Saura

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Preprint Jul 2026

Flight-Ready LiDAR-Inertial Odometry for Embedded Drone Platforms

Five architectural deficiencies in a representative tightly coupled IESKF-based LIO implementation are identified and corresponding modifications including IMU-rate forward propagation, direct body-frame velocity publishing, SLERP-based smoothing, dual-executor isolation, and explicit synchronization protection are introduced.

Alvaro J. Gaona, David Pérez-Saura, F. J. Anguita et al. · 0 citations