2025
Accurate Pose Refinement of Detected Vehicles Using LiDAR Point-to-Surfel ICP and Vehicle Shape Priors
RA-L 2025
This paper proposes an accurate pose refinement system that integrates point cloud registration and vehicle prior shapes to improve LiDAR-based vehicle pose estimation. For safe autonomous driving, centimeter-level accuracy is essential for estimating the poses of nearby vehicles. Although existing