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.
Kiss-icp: In defense of point-to-point icp–simple, accu- rate, and robust registration if done the right way.IEEE Robotics and Automation Letters, 8(2):1029–1036, 2023
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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.