GCLO: Ground Constrained LiDAR Odometry with Low-drifts for GPS-denied Indoor Environments
Xin Wei,Jixin Lv,Jie Sun,Erbao Dong,Shiliang Pu,Xin Wei,Jixin Lv,Jie Sun,Erbao Dong,Shiliang Pu
LiDAR is widely adopted in Simultaneous Localization And Mapping (SLAM) and High Definition (HD) map production. The accuracy of LiDAR Odometry (LO) is of great importance, especially in GPS-denied environments. However, we found typical LO results are prone to drift upwards along the vertical direction in underground parking lots, leading to poor mapping results. This paper proposes a Ground Cons...
