A seven-dataset ablation shows planar features with plane-to-plane residuals, IMU dewarping, and constant velocity initialization work best for LiDAR odometry.
LIO- SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping,
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A Comprehensive Evaluation of LiDAR Odometry Techniques
A seven-dataset ablation shows planar features with plane-to-plane residuals, IMU dewarping, and constant velocity initialization work best for LiDAR odometry.