2 papers
cs.RO2025
Odyssey: An Automotive Lidar-Inertial Odometry Dataset with GNSS-denied situations
Aaron Kurda, Simon Steuernagel, Lukas Jung +1
The development and evaluation of Lidar-Inertial Odometry (LIO) and Simultaneous Localization and Mapping (SLAM) systems requires a precise ground truth. The Global Navigation Sate…
cs.RO2025
Online Lidar-Only Odometry with Retrospective Refinement of Overlapping Submaps
Aaron Kurda, Simon Steuernagel, Marcus Baum
Lidar odometry aims to estimate the ego-motion of a mobile platform from a stream of lidar scans. Traditional scan-to-map approaches register each scan against a single, evolving m…