PL-LIT is a tightly-coupled LiDAR-inertial-thermal SLAM using point-line features, photometric calibration, ESIKF, and a probabilistic thermal voxel map for robust odometry and real-time anomaly detection.
Ntu4dradlm: 4d radar-centric multi-modal dataset for localization and mapping,
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PL-LIT: A LiDAR-Inertial-Thermal SLAM Using Point-Line Features and Thermographic Mapping
PL-LIT is a tightly-coupled LiDAR-inertial-thermal SLAM using point-line features, photometric calibration, ESIKF, and a probabilistic thermal voxel map for robust odometry and real-time anomaly detection.