An unsupervised LiDAR odometry system trained on clear weather attains low drift on snowy and dynamic test scenes using patch dispersion scoring, point weights, and an intensity mask.
De-noising of lidar point clouds corrupted by snowfall,
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Generalizing Unsupervised Lidar Odometry Model from Normal to Snowy Weather Conditions
An unsupervised LiDAR odometry system trained on clear weather attains low drift on snowy and dynamic test scenes using patch dispersion scoring, point weights, and an intensity mask.