A seven-dataset ablation shows planar features with plane-to-plane residuals, IMU dewarping, and constant velocity initialization work best for LiDAR odometry.
CT-ICP: Real-time Elastic LiDAR Odometry with Loop Closure,
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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.