KITTI-360

Method

Continuous-Time ICP 2 [la] [CT-ICP2]
https://github.com/jedeschaud/ct_icp

Submitted on 5 Oct. 2022 10:05 by
Jean-Emmanuel Deschaud (MINES ParisTech)

Running time:		0.06 s
Environment:		1 core @ 3.5 Ghz (C/C++)

Method Description:

Continuous-Time ICP 2 : map-centric real-time
elastic LiDAR Odometry

Parameters:

\size_voxel_map=1.0

Latex Bibtex:

@INPROCEEDINGS{9811849,
author={Dellenbach, Pierre and Deschaud, Jean-
Emmanuel and Jacquet, Bastien and Goulette,
François},
booktitle={2022 International Conference on
Robotics and Automation (ICRA)},
title={CT-ICP: Real-time Elastic LiDAR Odometry
with Loop Closure},
year={2022},
volume={},
number={},
pages={5580-5586},
doi={10.1109/ICRA46639.2022.9811849}}

Test Set Average

	APE (m)	RPE (%)
Seq 0	0.12	0.94
Seq 1	0.22	1.00
Seq 2	1.04	0.93
Seq 3	0.63	1.14
Mean	0.50	1.00

This table as LaTeX

Test Sequence 0

APE

RPE

Test Sequence 1

APE

RPE

Test Sequence 2

APE

RPE

Test Sequence 3

APE

RPE