Sensor Aware Lidar Odometry

Dmitri Kovalenko; Mikhail Korobkin; Andrey Minin

Sensor Aware Lidar Odometry

Computer Vision and Pattern Recognition 2020-01-22 v3 Robotics

Authors: Dmitri Kovalenko , Mikhail Korobkin , Andrey Minin

Abstract

A lidar odometry method, integrating into the computation the knowledge about the physics of the sensor, is proposed. A model of measurement error enables higher precision in estimation of the point normal covariance. Adjacent laser beams are used in an outlier correspondence rejection scheme. The method is ranked in the KITTI's leaderboard with 1.37% positioning error. 3.67% is achieved in comparison with the LOAM method on the internal dataset.

Keywords

lidar odometry radar signal processing

Cite

@article{arxiv.1907.09167,
  title  = {Sensor Aware Lidar Odometry},
  author = {Dmitri Kovalenko and Mikhail Korobkin and Andrey Minin},
  journal= {arXiv preprint arXiv:1907.09167},
  year   = {2020}
}

Comments

to appear in European Conference on Mobile Robots 2019

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