Real-time Multi-Adaptive-Resolution-Surfel 6D LiDAR Odometry using Continuous-time Trajectory Optimization
Jan Quenzel,Sven Behnke,Jan Quenzel,Sven Behnke
Simultaneous Localization and Mapping (SLAM) is an essential capability for autonomous robots, but due to high data rates of 3D LiDARs real-time SLAM is challenging. We propose a real-time method for 6D LiDAR odometry. Our approach combines a continuous-time B-Spline trajectory representation with a Gaussian Mixture Model (GMM) formulation to jointly align local multi-resolution surfel maps. Spars...
