Wenzheng Fan

Low-Drift Odometry, Mapping and Ground Segmentation Using a Backpack LiDAR System

We propose a framework for odometry, mapping and ground segmentation using a backpack LiDAR system that achieves both real-time and low-drift performance. First, we present a spatio-temporal calibration method to carefully merge scans from the two laser scanners on a backpack. Second, we propose a f