MAD-ICP: It Is All About Matching Data -- Robust and Informed LiDAR Odometry

arXiv:2405.05828v1 Announce Type: cross
Abstract: LiDAR odometry is the task of estimating the ego-motion of the sensor from sequential laser scans. This problem has been addressed by the community for more than two decades, and many effective solutions are available nowadays. Most of these systems implicitly rely on assumptions about the operating environment, the sensor used, and motion pattern. When these assumptions are violated, several well-known systems tend to perform poorly. This paper presents a LiDAR odometry system that can …

abstract arxiv community cs.cv cs.ro data lidar robust scans sensor solutions systems type