SOCC-ICP unifies semantic occupancy grid mapping with LiDAR scan alignment via adaptive point-to-point or point-to-plane ICP, achieving competitive odometry performance while producing maps usable for planning.
Sloam: Semantic lidar odometry and mapping for forest inventory,
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SOCC-ICP: Semantics-Assisted Odometry based on Occupancy Grids and ICP
SOCC-ICP unifies semantic occupancy grid mapping with LiDAR scan alignment via adaptive point-to-point or point-to-plane ICP, achieving competitive odometry performance while producing maps usable for planning.