[PDF] arxiv.org

Robust self-supervised lidar odometry via representative structure discovery and 3d inherent error modeling

Y Xu, J Lin, J Shi, G Zhang, X Wang… - IEEE Robotics and …, 2022 - ieeexplore.ieee.org
The correct ego-motion estimation basically relies on the understanding of correspondences
between adjacent LiDAR scans. However, given the complex scenarios and the low-
resolution LiDAR, finding reliable structures for identifying correspondences can be
challenging. In this letter, we delve into structure reliability for accurate self-supervised ego-
motion estimation and aim to alleviate the influence of unreliable structures in training,
inference and mapping phases. We improve the self-supervised LiDAR odometry …
被引用次数：24 相关文章 所有 4 个版本
[PDF] github.io

[PDF][PDF] Robust Self-supervised LiDAR Odometry via Representative Structure Discovery and 3D Inherent Error Distribution Modeling

Y Xu, J Lin, J Shi, G Zhang, X Wang, H Li - decayale.github.io
The correct ego-motion estimation basically relies on the understanding of correspondences
between adjacent LiDAR scans. However, given the complex scenarios and the low-
resolution LiDAR, finding reliable structures for identifying correspondences can be
challenging. In this paper, we delve into structure reliability for accurate self-supervised ego-
motion estimation and aim to alleviate the influence of unreliable structures in training,
inference and mapping phases. We improve the selfsupervised LiDAR odometry …
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