R-LIO: Rotating Lidar Inertial Odometry and Mapping

In this paper, we propose a novel simultaneous localization and mapping algorithm, R-LIO, which combines rotating multi-line lidar inertial measurement unit. R-LIO can achieve real-time high-precision pose estimation map-building. is mainly composed of four sequential modules, namely nonlinear motion distortion compensation module, frame-to-frame point cloud matching module based on normal distribution transformation by self-adaptive grid, frame-to-submap line surface feature, loop closure detection submap-to-submap matching. tested public datasets private datasets, it compared quantitatively qualitatively to the well-known methods. The test results show that has comparable accuracy algorithms as LIO-SAM, FAST-LIO2, Faster-LIO in non-rotating data. standard cannot function normally with Compared data, improve