BIEVR-LIO improves robustness of LiDAR-inertial odometry by representing maps as voxel-wise oriented height images and sampling points only from geometrically informative regions.
Genz- icp: Generalizable and degeneracy-robust lidar odometry using an adaptive weighting.IEEE Robotics and Au- tomation Letters
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BIEVR-LIO: Robust LiDAR-Inertial Odometry through Bump-Image-Enhanced Voxel Maps
BIEVR-LIO improves robustness of LiDAR-inertial odometry by representing maps as voxel-wise oriented height images and sampling points only from geometrically informative regions.