CT-ICP: Real-time Elastic LiDAR Odometry with Loop Closure
Pierre Dellenbach,Jean-Emmanuel Deschaud,Bastien Jacquet,François Goulette,Pierre Dellenbach,Jean-Emmanuel Deschaud,Bastien Jacquet,François Goulette
Multi-beam LiDAR sensors are increasingly used in robotics, particularly with autonomous cars for localization and perception tasks, both relying on the ability to build a precise map of the environment. For this, we propose a new real-time LiDAR-only odometry method called CT-ICP (for Continuous-Time ICP), completed into a full SLAM with a novel loop detection procedure. The core of this method, ...
