LiDAR_IMU_Init-Noted

LiDAR_IMU_Init-Noted is the noted version of LiDAR_IMU_Init (Zhu, Fangcheng, Yunfan Ren, and Fu Zhang. "Robust real-time lidar-inertial initialization.").

If you want to better understand this code, I strongly recommend reading FAST_LIO or S-FAST_LIO.

In addition, the following links are also my previous works. They are the interpretation and detailed equation derivation of the FAST-LIO paper:

FAST-LIO论文解读与详细公式推导(知乎)

FAST-LIO论文解读与详细公式推导(CSDN)

Acknowledgements

Thanks for the authors of LiDAR_IMU_Init.