2022
Map-Free Lidar Odometry (MFLO) Using a Range Flow Constraint and Point Patch Covariances
RA-L 2022
We present a lightweight real-time method to extract 3D ego-motion using a range flow constraint equation, point patch covariance, and a least squares solution. Our method exploits the structured data provided by range sensors, like rotating LiDARs, to attain 6 DOF odometry without building a map or