Fast and Versatile Feature-Based LiDAR Odometry via Efficient Local Quadratic Surface Approximation

Article Engineering, Electrical & Electronic

Point Wise or Feature Wise? A Benchmark Comparison of Publicly Available Lidar Odometry Algorithms in Urban Canyons

Feng Huang et al.

IEEE INTELLIGENT TRANSPORTATION SYSTEMS MAGAZINE (2022)

Proceedings Paper Automation & Control Systems

Voxelized GICP for Fast and Accurate 3D Point Cloud Registration

Kenji Koide et al.

Summary: This paper introduces the voxelized generalized iterative closest point (VGICP) algorithm for fast and accurate 3D point cloud registration. By extending the GICP approach with voxelization, the proposed method avoids costly nearest neighbor searches and allows for efficient processing on both CPU and GPU. Evaluations in simulated and real environments have shown that the algorithm is comparable in accuracy to GICP but significantly faster, enabling real-time 3D LIDAR applications.

2021 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2021) (2021)

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Proceedings Paper Automation & Control Systems

MULLS: Versatile LiDAR SLAM via Multi-metric Linear Least Square

Yue Pan et al.

Summary: MULLS is an efficient, low-drift, and versatile 3D LiDAR SLAM system that uses feature point extraction and multi-metric linear least square algorithm for frame-to-submap registration to keep the map updated and reduce error from dead reckoning through hierarchical pose graph optimization.

2021 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2021) (2021)

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Proceedings Paper Automation & Control Systems

F-LOAM : Fast LiDAR Odometry and Mapping

Han Wang et al.

Summary: The paper presents a computationally efficient and accurate framework for LiDAR based SLAM using a non-iterative distortion compensation method, achieving competitive localization accuracy and high processing rate, performing well in challenging scenarios. It is one of the most accurate and fastest open-sourced SLAM systems in the KITTI dataset ranking.

2021 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) (2021)

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Proceedings Paper Automation & Control Systems