The authors derive a curved SE(3) uncertainty model for range-azimuth-elevation sensors that includes sensor mounting and odometry noise when building point-cloud submaps.
LOAM: Lidar odometry and mapping in real- time,
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An SE(3) Noise Model for Range-Azimuth-Elevation Sensors
The authors derive a curved SE(3) uncertainty model for range-azimuth-elevation sensors that includes sensor mounting and odometry noise when building point-cloud submaps.