Preprint Open access
GR-LIO: A Local Ground-Aware LiDAR-Inertial Odometry System Using Body-to-Ground Height
LiDAR-inertial odometry (LIO) is widely used for state estimation in ground-based autonomous mobile robots. However, the geometric constraints provided by the local ground surface remain largely underexploited in existing LIO systems. This paper proposes a filter-based local ground-aware LIO framework that explicitly i …