Taylor Pool

FORM: Fixed-Lag Odometry with Reparative Mapping Utilizing Rotating LiDAR Sensors

Light Detection and Ranging (LiDAR) sensors have become a de-facto sensor for many robot state estimation tasks, spurring development of many LiDAR Odometry (LO) methods in recent years. While some smoothing-based LO methods have been proposed, most require matching against multiple scans, resulting…