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cs.RO2023
Quatro++: Robust Global Registration Exploiting Ground Segmentation for Loop Closing in LiDAR SLAM
Hyungtae Lim, Beomsoo Kim, Daebeom Kim +2
Global registration is a fundamental task that estimates the relative pose between two viewpoints of 3D point clouds. However, there are two issues that degrade the performance of…
cs.RO2023★ 2 cited
AdaLIO: Robust Adaptive LiDAR-Inertial Odometry in Degenerate Indoor Environments
Hyungtae Lim, Daebeom Kim, Beomsoo Kim +1
In recent years, the demand for mapping construction sites or buildings using light detection and ranging~(LiDAR) sensors has been increased to model environments for efficient sit…