For low-speed robot navigation, we present a solid-state-LiDAR-enhanced VINS (LE-VINS) to improve the system robustness and accuracy in challenging environments. The point clouds from the solid-state ...

Abstract: We present visual inertial lidar legged navigation system (VILENS), an odometry system for legged robots based on factor graphs. The key novelty is the tight fusion of four different sensor ...