Free-Init: scan-free, motion-free initialization for Doppler LiDAR-inertial systems
rsasaki0109 · x · 2026-10-13
The author presents Free-Init (IEEE RA-L 2024), an initialization framework for 4D Doppler LiDAR-inertial systems that eliminates scan undistortion, excitation motions, and feature/map correspondences by fusing point-wise Doppler velocities with inertial data. Its correspondence-free nature works in both structured and structure-degenerated scenes, is plug-and-play with typical LiDAR-inertial systems, and the code is open-sourced on GitHub.
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