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arXiv Computer Vision By Mingle Zhao, Jiahao Wang, Tianxiao Gao, Chengzhong Xu, Hui Kong

Free-Init: Scan-Free, Motion-Free, and Correspondence-Free Initialization for Doppler LiDAR-Inertial Systems

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The paper introduces Free-Init, a high‑frequency, resilient initialization framework for LiDAR‑inertial systems that uses FMCW Doppler LiDAR to capture both point range and Doppler velocity. By fusing point‑wise Doppler velocity with inertial measurements, Free‑Init eliminates the need for motion undistortion, excitation motions, and map correspondences during initialization, making it plug‑and‑play for a wide range of initial motions, including stationary, dynamic, and violent movements. Experiments on diverse platforms and motion scenarios demonstrate that Free‑Init achieves fast convergence and high‑frequency performance, delivering outputs exceeding 10 kHz and outperforming existing methods.

Machine-generated by The Flow from the publisher's headline and feed description — not written or checked by a human. The full article lives at arXiv Computer Vision.

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