notesum.ai

Published at November 27

Efficient Dynamic LiDAR Odometry for Mobile Robots with Structured Point Clouds

cs.RO

Released Date: November 27, 2024

Authors: Jonathan Lichtenfeld, Kevin Daun, Oskar von Stryk

Arxiv: http://arxiv.org/abs/2411.18443v1

Refer to caption

	kantplatz (OS-0 128)	small town simulation (OS-1 64)
odometry	$31.7\pm 12.7$	$31.7\pm 11.4$
projection	$4.2\pm 0.8$	$3.5\pm 0.7$
segm.	$9.0\pm 1.3$	$4.4\pm 0.8$
tracking	$1.1\pm 0.6$	$0.3\pm 0.3$
total	$46.0\pm 12.9$	$40.0\pm 11.5$
Dynablox	$138.2\pm 27.0$	$111.0\pm 12.2$