Ville Lehtola

Gaussian or Plane? Both: Semantic-Driven Voxel Representation for LiDAR–Inertial Odometry

Accurate LiDAR-inertial odometry (LIO) highly depends on the geometric fidelity of the underlying environment representation. We explore the new and interesting research direction of integrating semantic segmentation models into metric odometry algorithms to enrich their representational capacity. S…