EllipseLIO: Adaptive LiDAR Inertial Odometry with an Ellipsoid Representation

LiDAR Inertial Odometry (LIO) is a critical component for many mobile robots that need to navigate without relying on external positioning (e.g., GPS). Platforms that operate autonomously in different environments and with heterogeneous LiDAR sensors require a LIO approach that can adapt to these di...