LLOL: Low-Latency Odometry for Spinning Lidars
Chao Qu,Shreyas S. Shivakumar,Wenxin Liu,Camillo J. Taylor,Chao Qu,Shreyas S. Shivakumar,Wenxin Liu,Camillo J. Taylor
In this paper, we present a low-latency odometry system designed for spinning lidars. Many existing lidar odometry methods wait for an entire sweep from the lidar before processing the data. This introduces a large delay between the first laser firing and its pose estimate. To reduce this latency, we treat the spinning lidar as a streaming sensor and process packets as they arrive. This effectivel...
