Fast and Robust Normal Estimation for Sparse LiDAR Scans
Igor Bogoslavskyi,Konstantinos Zampogiannis,Raymond Phan,Igor Bogoslavskyi,Konstantinos Zampogiannis,Raymond Phan
Light Detection and Ranging (LiDAR) technology has proven to be an important part of many robotics systems. Surface normals estimated from LiDAR data are commonly used for a variety of tasks in such systems. As most of the today’s mechanical LiDAR sensors produce sparse data, estimating normals from a single scan in a robust manner poses difficulties.In this paper, we address the problem of estima...
