Real-Time Simultaneous Localization and Mapping with LiDAR Intensity
Wenqiang Du,Giovanni Beltrame,Wenqiang Du,Giovanni Beltrame
We propose a novel real-time LiDAR intensity image-based simultaneous localization and mapping method, which addresses the geometry degeneracy problem in un-structured environments. Traditional LiDAR-based front-end odometry mostly relies on geometric features such as points, lines and planes. A lack of these features in the environment can lead to the failure of the entire odometry system. To avo...
