ATI-CTLO: Adaptive Temporal Interval-Based Continuous-Time LiDAR-Only Odometry

Abstract

The motion distortion in LiDAR scans caused by the robot's aggressive motion and environmental terrain features significantly impacts the positioning and mapping performance of 3D LiDAR odometry. Existing distortion correction solutions struggle to balance computational complexity and accuracy. In this letter, we propose an <bold xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">A</b>daptive <bold xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">T</b>emporal <bold xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">I</b>nterval-based <bold xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">C</b>ontinuous-<bold xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">T</b>ime <bold xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">L</b>iDAR-only <bold xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">O</b>dometry (ATI-CTLO), which is based on straightforward and efficient linear interpolation. Our method can flexibly adjust the temporal intervals between control nodes according to the motion dynamics and environmental degeneracy. This adaptability enhances performance across various motion states and improves the algorithms robustness in degenerate, particularly feature-sparse, environments. We validated our method's effectiveness on multiple datasets across different platforms, achieving comparable accuracy to state-of-the-art LiDAR-only odometry methods. Notably, in situations involving aggressive motion and sparse features, our method outperforms existing LiDAR-only methods.