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Technical Paper: LiDAR Inertial Odometry (LIO)

LIO is an optional feature that can be enabled on any OxTS INS, and used to constrain position drift in urban canyons using LiDAR.

Any INS that uses GNSS to aid navigation is susceptible to position drift. This is particularly noticeable in areas where GNSS signal is regularly interrupted or blocked completely – such as urban canyons.

This technical paper covers several key topics including…

  • How LIO works
  • Performance evaluations – Oxford and London
  • Potential applications and use cases
  • What is required to get the most out of LIO

LIO tech paper cover image