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Fast and Robust Normal Estimation for Sparse LiDAR Scans
April 23, 2024, 4:48 a.m. | Igor Bogoslavskyi, Konstantinos Zampogiannis, Raymond Phan
cs.CV updates on arXiv.org arxiv.org
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
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