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cs.RO2026
ToF-Wheel Odometry: Navigating Degeneration of Localization With Limited Sensing Capabilities
Xu Yang, Wenhao Li, Zhengyu Wei +3
Wheel odometry provides an efficient motion prior for ground robots but is prone to transient violations such as wheel slip or terrain-induced tilt. In filtering-based odometry, th…
cs.RO2024
CP-VoxelMap: Compact, Cumulative and Coalescible Probabilistic Voxel Mapping
Xu Yang, Wenhao Li, Qijie Ge +5
This work presents a compact, cumulative and coalescible probabilistic voxel mapping method to enhance performance, accuracy and memory efficiency in LiDAR odometry. Probabilistic…