《Direct LiDAR Odometry: Fast Localization with Dense Point Clouds》( arXiv:2110.00605 ) Motivation 就目前而言,以LOAM为依据的激光里程计算法都很难满足能够高速实时处理密集点云的要求。所以在这个工作里提出了能够实现高速高精度LO的思路。 Contribution 提出了一个定制的速度优先的处理流程,这个流程可以实时精确...
DLO is a lightweight and computationally-efficient frontend LiDAR odometry solution with consistent and accurate localization. It features several algorithmic innovations that increase speed, accuracy, and robustness of pose estimation in perceptually-challenging environments and has been extensively tested on ...