Ensemble Kalman Filter Based LiDAR Odometry for Skewed Point Clouds Using Scan Slicing
Yeongkwon Choe,Jae Hyung Jung,Chan Gook Park,Yeongkwon Choe,Jae Hyung Jung,Chan Gook Park
In the presence of fast motion, point clouds obtained from mechanical spinning LiDAR can be easily distorted due to the slow scanning speed of the LiDAR. Existing LiDAR-only odometry algorithms generally ignore this distortion or compensate by linearly interpolating the estimated relative motion between scans. However, when there are abrupt and nonlinear motion changes, the linear interpolation me...
