{"paper":{"title":"Point wise or Feature wise? Benchmark Comparison of Public Available LiDAR Odometry Algorithms in Urban Canyons","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Feng Huang, Jiachen Zhang, Li-Ta Hsu, Weisong Wen","submitted_at":"2021-04-12T04:49:30Z","abstract_excerpt":"Robust and precise localization is essential for the autonomous system with navigation requirements. Light detection and ranging (LiDAR) odometry is extensively studied in the past decades to achieve this goal. Satisfactory accuracy can be achieved in scenarios with abundant environmental features using existing LiDAR odometry (LO) algorithms. Unfortunately, the performance of the LiDAR odometry is significantly degraded in urban canyons with numerous dynamic objects and complex environmental structures. Meanwhile, it is still not clear from the existing literature which LO algorithms perform "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2104.05203","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2104.05203/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}