Elastic and Efficient LiDAR Reconstruction for Large-Scale Exploration Tasks
Yiduo Wang Nils Funk Milad Ramezani Sotiris Papatheodorou Marija Popović Marco Camurri Stefan Leutenegger Maurice Fallon Yiduo Wang Nils Funk Milad Ramezani Sotiris Papatheodorou Marija Popović Marco Camurri Stefan Leutenegger Maurice Fallon
We present an efficient, elastic 3D LiDAR reconstruction framework which can reconstruct up to maximum Li-DAR ranges (60 m) at multiple frames per second, thus enabling robot exploration in large-scale environments. Our approach only requires a CPU. We focus on three main challenges of large-scale reconstruction: integration of long-range LiDAR scans at high frequency, the capacity to deform the r...