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CT-ICP: Real-time Elastic LiDAR Odometry with Loop Closure

27 September 2021

Pierre Dellenbach

Jean-Emmanuel Deschaud

Bastien Jacquet

Franccois Goulette

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Papers citing "CT-ICP: Real-time Elastic LiDAR Odometry with Loop Closure"

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Title
Comment on The Illusion of Thinking: Understanding the Strengths and Limitations of Reasoning Models via the Lens of Problem Complexity C. Opus LRM 59 7 0 10 Jun 2025
D-LIO: 6DoF Direct LiDAR-Inertial Odometry based on Simultaneous Truncated Distance Field Mapping Lucia Coto-Elena J.E. Maese L. Merino F. Caballero 42 0 0 22 May 2025
II-NVM: Enhancing Map Accuracy and Consistency with Normal Vector-Assisted Mapping Chengwei Zhao You Li Yina Jian Jie Xu Linji Wang Yongxin Ma Xinglai Jin 67 5 0 11 Apr 2025
A Chefs KISS -- Utilizing semantic information in both ICP and SLAM framework Sven Ochs Marc Heinrich Philip Schorner M. Zofka Johann Marius Zöllner 54 2 0 02 Apr 2025
SR-LIO++: Efficient LiDAR-Inertial Odometry and Quantized Mapping with Sweep Reconstruction Zikang Yuan Ruiye Ming Chengwei Zhao Yonghao Tan Pingcheng Dong H. Luo Yuzhong Jiao Xin-She Yang Kwang-Ting Cheng 87 0 0 29 Mar 2025
KISS-SLAM: A Simple, Robust, and Accurate 3D LiDAR SLAM System With Enhanced Generalization Capabilities Tiziano Guadagnino Benedikt Mersch Saurabh Gupta Ignacio Vizzo Giorgio Grisetti C. Stachniss 131 1 0 16 Mar 2025
M2UD: A Multi-model, Multi-scenario, Uneven-terrain Dataset for Ground Robot with Localization and Mapping Evaluation Yanpeng Jia Shiyi Wang Shiliang Shao Yansen Wang Fu Zhang Ting Wang 87 0 0 16 Mar 2025
Leveraging Semantic Graphs for Efficient and Robust LiDAR SLAM Neng Wang Huimin Lu Zhiqiang Zheng Hesheng Wang Yun Liu Xieyuanli Chen 104 0 0 14 Mar 2025
PLK-Calib: Single-shot and Target-less LiDAR-Camera Extrinsic Calibration using Plücker Lines Yanyu Zhang Jie Xu Wei Ren 135 0 0 11 Mar 2025
AKF-LIO: LiDAR-Inertial Odometry with Gaussian Map by Adaptive Kalman Filter Xupeng Xie R. Geng Jun Ma Boyu Zhou 56 0 0 10 Mar 2025
Adaptive-LIO: Enhancing Robustness and Precision through Environmental Adaptation in LiDAR Inertial Odometry Chengwei Zhao Kun Hu Jie Xu Lijun Zhao Baiwen Han Kaidi Wu Maoshan Tian Shenghai Yuan 106 4 0 07 Mar 2025
Balancing Act: Trading Off Doppler Odometry and Map Registration for Efficient Lidar Localization Katya M. Papais Daniil Lisus David J. Yoon A. Lambert K. Leung Timothy D. Barfoot 108 1 0 03 Mar 2025
CTE-MLO: Continuous-time and Efficient Multi-LiDAR Odometry with Localizability-aware Point Cloud Sampling Hongming Shen Zhenyu Wu Yulin Hui Qiyang Lyu Huiqin Zhou Tianchen Deng Yeqing Zhu Bailing Tian Danwei W. Wang 108 5 0 17 Feb 2025
Efficiently Closing Loops in LiDAR-Based SLAM Using Point Cloud Density Maps Saurabh Gupta Tiziano Guadagnino Benedikt Mersch Niklas Trekel Meher V. R. Malladi Cyrill Stachniss 81 1 0 13 Jan 2025
ROLO-SLAM: Rotation-Optimized LiDAR-Only SLAM in Uneven Terrain with Ground Vehicle Yinchuan Wang Bin Ren Xiang Zhang Pengyu Wang Chaoqun Wang Rui Song Yibin Li Max Meng 92 3 0 04 Jan 2025
AsynEIO: Asynchronous Monocular Event-Inertial Odometry Using Gaussian Process Regression Zhixiang Wang Xudong Li Yizhai Zhang Fan Zhang Panfeng 129 0 0 19 Nov 2024
GenZ-ICP: Generalizable and Degeneracy-Robust LiDAR Odometry Using an Adaptive Weighting D. Lee Hyungtae Lim Soohee Han 88 4 0 11 Nov 2024
Continuous-Time State Estimation Methods in Robotics: A Survey William Talbot Julian Nubert Turcan Tuna Cesar Cadena Frederike Dumbgen J. Tordesillas Timothy D. Barfoot Marco Hutter 170 11 0 06 Nov 2024
A Third-Order Gaussian Process Trajectory Representation Framework with Closed-Form Kinematics for Continuous-Time Motion Estimation T. Nguyen Ziyu Cao Kailai Li Shenghai Yuan Lihua Xie Shenghai Yuan Timothy D. Barfoot Lihua Xie 165 7 0 30 Oct 2024
TRLO: An Efficient LiDAR Odometry with 3D Dynamic Object Tracking and Removal Yanpeng Jia Ting Wang Xieyuanli Chen Shiliang Shao 24 0 0 17 Oct 2024
Kinematic-ICP: Enhancing LiDAR Odometry with Kinematic Constraints for Wheeled Mobile Robots Moving on Planar Surfaces Tiziano Guadagnino Benedikt Mersch Ignacio Vizzo Saurabh Gupta Meher V. R. Malladi Luca Lobefaro Guillaume Doisy Cyrill Stachniss 103 4 0 14 Oct 2024
CELLmap: Enhancing LiDAR SLAM through Elastic and Lightweight Spherical Map Representation YiFan Duan Xinran Zhang Yao Li Guoliang You Xiaomeng Chu Jianmin Ji Yanyong Zhang 61 1 0 29 Sep 2024
ERPoT: Effective and Reliable Pose Tracking for Mobile Robots Using Lightweight Polygon Maps Haiming Gao Qibo Qiu Hongyan Liu Dingkun Liang Chaoqun Wang Xuebo Zhang 477 0 0 23 Sep 2024
High Definition Map Mapping and Update: A General Overview and Future Directions Benny Wijaya Kun Jiang Mengmeng Yang Tuopu Wen Yunlong Wang Xuewei Tang Zheng Fu Taohua Zhou Diange Yang 111 0 0 15 Sep 2024
SLIM: Scalable and Lightweight LiDAR Mapping in Urban Environments Zehuan Yu Zhijian Qiao Wenyi Liu Huan Yin Shaojie Shen 126 2 0 13 Sep 2024
UMERegRobust -- Universal Manifold Embedding Compatible Features for Robust Point Cloud Registration Yuval Haitman Amit Efraim J. Francos 3DPC 72 1 0 22 Aug 2024
Informed, Constrained, Aligned: A Field Analysis on Degeneracy-aware Point Cloud Registration in the Wild Turcan Tuna Julian Nubert Patrick Pfreundschuh Cesar Cadena Shehryar Khattak Marco Hutter 131 7 0 21 Aug 2024
AS-LIO: Spatial Overlap Guided Adaptive Sliding Window LiDAR-Inertial Odometry for Aggressive FOV Variation Tianxiang Zhang Xuanxuan Zhang Zongbo Liao Xin Xia Huai Yu 96 5 0 21 Aug 2024
BEVPlace++: Fast, Robust, and Lightweight LiDAR Global Localization for Unmanned Ground Vehicles Lun Luo Siyuan Cao Xiaorui Li Jintao Xu Rui Ai Zhu Yu Xieyuanli Chen 115 6 0 03 Aug 2024
ATI-CTLO:Adaptive Temporal Interval-based Continuous-Time LiDAR-Only Odometry Bo Zhou Jiajie Wu Yan Pan Chuanzhao Lu 81 2 0 30 Jul 2024
A flexible framework for accurate LiDAR odometry, map manipulation, and localization J. Blanco-Claraco 107 3 0 29 Jul 2024
GLIM: 3D Range-Inertial Localization and Mapping with GPU-Accelerated Scan Matching Factors Kenji Koide Masashi Yokozuka Shuji Oishi A. Banno 79 10 0 14 Jul 2024
I2EKF-LO: A Dual-Iteration Extended Kalman Filter Based LiDAR Odometry Wenlu Yu Jie Xu Chengwei Zhao Lijun Zhao T. Nguyen Shenghai Yuan Mingming Bai Lihua Xie 117 9 0 02 Jul 2024
L-PR: Exploiting LiDAR Fiducial Marker for Unordered Low Overlap Multiview Point Cloud Registration Yibo Liu Jinjun Shan Amaldev Haridevan Shuo Zhang 137 2 0 05 Jun 2024
MAD-ICP: It Is All About Matching Data -- Robust and Informed LiDAR Odometry Simone Ferrari Luca Di Giammarino Leonardo Brizi Giorgio Grisetti 102 11 0 09 May 2024
Rotation Initialization and Stepwise Refinement for Universal LiDAR Calibration YiFan Duan Xinran Zhang Guoliang You Yilong Wu Xingchen Li ... Xiaomeng Chu Jie Peng Yu Zhang Jianmin Ji Yanyong Zhang 73 3 0 09 May 2024
3D LiDAR Mapping in Dynamic Environments Using a 4D Implicit Neural Representation Xingguang Zhong Yue Pan C. Stachniss Jens Behley 3DPC 84 6 0 06 May 2024
Block-Map-Based Localization in Large-Scale Environment Yixiao Feng Zhou Jiang Yongliang Shi Yunlong Feng Xiangyu Chen Hao Zhao Guyue Zhou 68 6 0 28 Apr 2024
SLAM for Indoor Mapping of Wide Area Construction Environments Vincent Ress Wei Zhang D. Skuddis Norbert Haala Uwe Soergel 3DV 115 2 0 26 Apr 2024
Hilti SLAM Challenge 2023: Benchmarking Single + Multi-session SLAM across Sensor Constellations in Construction Ashish Devadas Nair Julien Kindle Plamen Levchev Davide Scaramuzza 99 7 0 15 Apr 2024
IMU as an Input vs. a Measurement of the State in Inertial-Aided State Estimation Keenan Burnett Angela P. Schoellig Timothy D. Barfoot 88 5 0 09 Mar 2024
Tightly-Coupled LiDAR-Visual-Inertial SLAM and Large-Scale Volumetric Occupancy Mapping Simon Boche Sebastián Barbas Laina Stefan Leutenegger 87 7 0 04 Mar 2024
DMSA -- Dense Multi Scan Adjustment for LiDAR Inertial Odometry and Global Optimization D. Skuddis Norbert Haala 68 0 0 29 Feb 2024
How NeRFs and 3D Gaussian Splatting are Reshaping SLAM: a Survey Fabio Tosi Youming Zhang Ziren Gong Erik Sandström S. Mattoccia Martin R. Oswald Matteo Poggi 3DGS 205 63 0 20 Feb 2024
Continuous-Time Radar-Inertial and Lidar-Inertial Odometry using a Gaussian Process Motion Prior Keenan Burnett Angela P. Schoellig Timothy D. Barfoot 110 13 0 09 Feb 2024
Tightly Coupled Range Inertial Localization on a 3D Prior Map Based on Sliding Window Factor Graph Optimization Kenji Koide Shuji Oishi Masashi Yokozuka A. Banno 86 8 0 08 Feb 2024
Eigen Is All You Need: Efficient Lidar-Inertial Continuous-Time Odometry with Internal Association Thien-Minh Nguyen Xinhang Xu Tongxing Jin Yizhuo Yang Jianping Li Shenghai Yuan Lihua Xie 103 14 0 04 Feb 2024
PIN-SLAM: LiDAR SLAM Using a Point-Based Implicit Neural Representation for Achieving Global Map Consistency Yue Pan Xingguang Zhong Louis Wiesmann Thorbjörn Posewsky Jens Behley C. Stachniss 3DPC 3DV 106 38 0 17 Jan 2024
3QFP: Efficient neural implicit surface reconstruction using Tri-Quadtrees and Fourier feature Positional encoding Shuo Sun Malcolm Mielle A. Lilienthal Martin Magnusson 3DV 127 2 0 13 Jan 2024
LiDAR Odometry Survey: Recent Advancements and Remaining Challenges Dongjae Lee Minwoo Jung Wooseong Yang Ayoung Kim 115 49 0 29 Dec 2023