Saved in:
| Main Authors: | , |
|---|---|
| Format: | Preprint |
| Published: |
2025
|
| Subjects: | |
| Online Access: | https://arxiv.org/abs/2511.14919 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866912717254688768 |
|---|---|
| author | Dingler, Sebastian Burrichter, Hannes |
| author_facet | Dingler, Sebastian Burrichter, Hannes |
| contents | Odometry with lidar sensors is a state-of-the-art method to estimate the ego pose of a moving vehicle. Many implementations of lidar odometry use variants of the Iterative Closest Point (ICP) algorithm. Real-world effects such as dynamic objects, non-overlapping areas, and sensor noise diminish the accuracy of ICP. We build on a recently proposed method that makes these effects visible by visualizing the multidimensional objective function of ICP in two dimensions. We use this method to study different ICP variants in the context of lidar odometry. In addition, we propose a novel method to filter out dynamic objects and to address the ego blind spot problem. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2511_14919 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | A visual study of ICP variants for Lidar Odometry Dingler, Sebastian Burrichter, Hannes Robotics Odometry with lidar sensors is a state-of-the-art method to estimate the ego pose of a moving vehicle. Many implementations of lidar odometry use variants of the Iterative Closest Point (ICP) algorithm. Real-world effects such as dynamic objects, non-overlapping areas, and sensor noise diminish the accuracy of ICP. We build on a recently proposed method that makes these effects visible by visualizing the multidimensional objective function of ICP in two dimensions. We use this method to study different ICP variants in the context of lidar odometry. In addition, we propose a novel method to filter out dynamic objects and to address the ego blind spot problem. |
| title | A visual study of ICP variants for Lidar Odometry |
| topic | Robotics |
| url | https://arxiv.org/abs/2511.14919 |