Jul 2026
WNOJ-LIO: A White-Noise-on-Jerk Motion-Prior EKF for High-Dynamic LiDAR-IMU Fusion
WNOJ-LIO is presented, a LiDAR-IMU fusion framework based on a White-Noise-on-Jerk (WNOJ) Extended Kalman Filter (EKF) that employs a decoupled WNOJ prior on $\R^3 \times \SO(3)$ for state prediction and treats the IMU as a high-frequency measurement source rather than the driver of state propagation.
Junning Lyu, Qi-Zhi Guo, Xia Ning et al.
· arXiv.org · 0 citations