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cs.RO2023
Correcting Motion Distortion for LIDAR HD-Map Localization
Matthew McDermott, Jason Rife
Because scanning-LIDAR sensors require finite time to create a point cloud, sensor motion during a scan warps the resulting image, a phenomenon known as motion distortion or rollin…
cs.RO2023
ICET Online Accuracy Characterization for Geometry-Based Laser Scan Matching
Matthew McDermott, Jason Rife
Distribution-to-Distribution (D2D) point cloud registration algorithms are fast, interpretable, and perform well in unstructured environments. Unfortunately, existing strategies fo…