Poisson Surface Reconstruction for LiDAR Odometry and Mapping
Ignacio Vizzo Xieyuanli Chen Nived Chebrolu Jens Behley Cyrill Stachniss Ignacio Vizzo Xieyuanli Chen Nived Chebrolu Jens Behley Cyrill Stachniss
Accurately localizing in and mapping an environment are essential building blocks of most autonomous systems. In this paper, we present a novel approach for LiDAR odometry and mapping, focusing on improving the mapping quality and at the same time estimating the pose of the vehicle. Our approach performs frame-to-mesh ICP, but in contrast to other SLAM approaches, we represent the map as a triangl...