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GenZ-ICP: Generalizable and Degeneracy-Robust LiDAR Odometry Using an Adaptive Weighting
Light detection and ranging (LiDAR)-based odometry has been widely utilized for pose
estimation due to its use of high-accuracy range measurements and immunity to ambient …
estimation due to its use of high-accuracy range measurements and immunity to ambient …
Heterogeneous lidar dataset for benchmarking robust localization in diverse degenerate scenarios
The ability to estimate pose and generate maps using 3D LiDAR significantly enhances
robotic system autonomy. However, existing open-source datasets lack representation of …
robotic system autonomy. However, existing open-source datasets lack representation of …
SuperLoc: The Key to Robust LiDAR-Inertial Localization Lies in Predicting Alignment Risks
Map-based LiDAR localization, while widely used in autonomous systems, faces significant
challenges in degraded environments due to lacking distinct geometric features. This paper …
challenges in degraded environments due to lacking distinct geometric features. This paper …