  Scan undistortion is a key module for LiDAR odometry in high dynamic
environment with high rotation and translation speed. The existing line of
studies mostly focuses on one pass undistortion, which means undistortion for
each point is conducted only once in the whole LiDAR-IMU odometry pipeline. In
this paper, we propose an optimization based tightly coupled LiDAR-IMU odometry
addressing iterated point-level undistortion. By jointly minimizing the cost
derived from LiDAR and IMU measurements, our LiDAR-IMU odometry method performs
more accurate and robust in high dynamic environment. Besides, the method
characters good computation efficiency by limiting the quantity of parameters.
