LOCUS 2.0: Robust and Computationally Efficient Lidar Odometry for Real-Time 3D Mapping

Lidar odometry has attracted considerable attention as a robust localization method for autonomous robots operating in complex GNSS-denied environments. However, achieving reliable and efficient performance on heterogeneous platforms in large-scale environments remains an open challenge due to the l...

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Veröffentlicht in:	IEEE robotics and automation letters Jg. 7; H. 4; S. 9043 - 9050
Hauptverfasser:	Reinke, Andrzej, Palieri, Matteo, Morrell, Benjamin, Chang, Yun, Ebadi, Kamak, Carlone, Luca, Agha-Mohammadi, Ali-Akbar
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	Piscataway IEEE 01.10.2022 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:	Computational efficiency Darkness data sets for SLAM Datasets Iterative methods Laser radar Lidar Localization method Loci Mapping Memory management Odometers Platforms Point cloud compression Real time Real-time systems Robot sensing systems robotics in under-resourced settings Robots Robustness (mathematics) sensor fusion SLAM Three-dimensional displays
ISSN:	2377-3766, 2377-3766
Online-Zugang:	Volltext
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