Point Wise or Feature Wise? A Benchmark Comparison of Publicly Available Lidar Odometry Algorithms in Urban Canyons

Huang, F., Wen, W., Zhang, J., Hsu, L.-T.

IEEE Intelligent Transportation Systems Magazine (2022)

journal

摘要

本基准研究使用香港城市峡谷数据，对比逐点与特征式激光雷达里程计算法，考察定位精度、计算成本、车辆运动及动态物体的影响。

IEEE Intelligent Transportation Systems Magazine, 14(6), 155–173.