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

arXiv:2609.29375 · cs.RO, cs.CV, cs.SY, eess.SY · Submitted 2026-09-24 · Read on arXiv

cs.RO, cs.CV, cs.SY, eess.SY

Submitted: 2026-09-24

Updated: 2026-09-25

Terminology

• Accuracy — 13× in this paper · explained in 1 episode
• Calibration — 8× in this paper · explained in 7 episodes
• Doppler-Inertial Velocimeter — 8× in this paper
• Consistency — 4× in this paper · explained in 3 episodes
• International Conference on Robotics and Automation — 2× in this paper
• Robustness — 2× in this paper · explained in 5 episodes
• Core — 1× in this paper · explained in 2 episodes
• Frequency Modulated Continuous Wave — 1× in this paper
• Global Navigation Satellite System — 1× in this paper
• Point Clouds — 1× in this paper · explained in 2 episodes
• alpha — 1× in this paper · explained in 1 episode

Sources

• Kalman Filters on Differentiable Manifolds

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