  Light detection and ranging (LiDAR) on a moving agent could suffer from
motion distortion due to simultaneous rotation of the LiDAR and fast movement
of the agent. An accurate piecewise linear de skewing algorithm is proposed to
correct the motion distortions for LiDAR inertial odometry (LIO) using high
frequency motion information provided by an Inertial Measurement Unit (IMU).
Experimental results show that the proposed algorithm can be adopted to improve
the performance of existing LIO algorithms especially in cases of fast
movement.
