Fast and Robust Normal Estimation for Sparse LiDAR Scans

arXiv:2404.14281v1 Announce Type: cross
Abstract: Light Detection and Ranging (LiDAR) technology has proven to be an important part of many robotics systems. Surface normals estimated from LiDAR data are commonly used for a variety of tasks in such systems. As most of the today's mechanical LiDAR sensors produce sparse data, estimating normals from a single scan in a robust manner poses difficulties.
In this paper, we address the problem of estimating normals for sparse LiDAR data avoiding the typical issues …

abstract arxiv cs.cv cs.ro data detection lidar light normal part robotics robust scans sensors surface systems tasks technology type