A seven-dataset ablation shows planar features with plane-to-plane residuals, IMU dewarping, and constant velocity initialization work best for LiDAR odometry.
LiDAR odometry survey: Recent advancements and remaining challenges,
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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.