Hee-Won Chae

Fast and Versatile Feature-Based LiDAR Odometry via Efficient Local Quadratic Surface Approximation

We present a fast and versatile feature-based LiDAR odometry method using local quadratic surface approximation and point-to-surface alignment. Unlike most feature-based methods, our approach approximates the local geometry of the LiDAR scan as a quadratic surface to mitigate performance degradation