3 accepted papers
Robust state estimation is a fundamental research topic in robotics. Existing approaches like robust kernels combined with iteratively re-weighted least squares (IRLS) often require heuristic parameter selection and extensive fine-tuning. In this manuscript, we propose a novel method that optimizes
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
Due to the presence of ambiguities caused by sensor noise and structural similarity, simultaneous localization and mapping (SLAM) observation models are typically multimodal. The multimodal inference process can be directly dealt with by belief propagation (BP) using weighted Gaussian mixture messag…