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Scan undistortion is a key module for LiDAR odometry in high dynamicenvironment with high rotation and translation speed. The existing line ofstudies mostly focuses on one pass undistortion, which means undistortion foreach point is conducted only once in the whole LiDAR-IMU odometry pipeline. Inthis paper, we propose an optimization based tightly coupled LiDAR-IMU odometryaddressing iterated point-level undistortion. By jointly minimizing the costderived from LiDAR and IMU measurements, our LiDAR-IMU odometry method performsmore accurate and robust in high dynamic environment. Besides, the methodcharacters good computation efficiency by limiting the quantity of parameters.

A Tightly Coupled LiDAR-IMU Odometry through Iterated Point-Level Undistortion