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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
SR-LIVO: LiDAR-Inertial-Visual Odometry and Mapping with Sweep Reconstruction Zikang Yuan Jie Deng Ruiye Ming Fengtian Lang Xin Yang 87 21 0 28 Dec 2023
T-MAE: Temporal Masked Autoencoders for Point Cloud Representation Learning Weijie Wei Fatemeh Karimi Nejadasl Theo Gevers Martin R. Oswald 3DPC 65 3 0 15 Dec 2023
DeepPointMap: Advancing LiDAR SLAM with Unified Neural Descriptors Xiaze Zhang Ziheng Ding Qi Jing Yuejie Zhang Wenchao Ding Rui Feng 56 5 0 05 Dec 2023
LIO-EKF: High Frequency LiDAR-Inertial Odometry using Extended Kalman Filters Yibin Wu Tiziano Guadagnino Louis Wiesmann L. Klingbeil C. Stachniss H. Kuhlmann 58 8 0 16 Nov 2023
LiLO: Lightweight and low-bias LiDAR Odometry method based on spherical range image filtering Edison P. Velasco-Sánchez Miguel Ángel Muñoz Bañón F. Candelas S. T. Puente Fernando Torres 60 5 0 13 Nov 2023
Multi-LiDAR Localization and Mapping Pipeline for Urban Autonomous Driving Florian Sauerbeck Dominik Kulmer Markus Pielmeier Maximilian Leitenstern Christoph Weiss Johannes Betz 47 2 0 03 Nov 2023
ParisLuco3D: A high-quality target dataset for domain generalization of LiDAR perception Jules Sanchez Louis Soum-Fontez Jean-Emmanuel Deschaud F. Goulette 3DPC 3DV 112 3 0 25 Oct 2023
SAGE-ICP: Semantic Information-Assisted ICP Jiaming Cui Jiming Chen Liang Li 3DPC 52 2 0 11 Oct 2023
KDD-LOAM: Jointly Learned Keypoint Detector and Descriptors Assisted LiDAR Odometry and Mapping Renlang Huang Minglei Zhao Jiming Chen Liang Li 3DPC 63 4 0 27 Sep 2023
Traj-LO: In Defense of LiDAR-Only Odometry Using an Effective Continuous-Time Trajectory Xin Zheng Jianke Zhu 99 20 0 25 Sep 2023
LiDAR-Generated Images Derived Keypoints Assisted Point Cloud Registration Scheme in Odometry Estimation Haizhou Zhang Xianjia Yu Sier Ha Tomi Westerlund 3DPC 66 6 0 19 Sep 2023
Fully Onboard SLAM for Distributed Mapping with a Swarm of Nano-Drones Carl Friess Vlad Niculescu T. Polonelli Michele Magno Luca Benini 80 8 0 07 Sep 2023
A LiDAR-Inertial SLAM Tightly-Coupled with Dropout-Tolerant GNSS Fusion for Autonomous Mine Service Vehicles Yusheng Wang Y. Lou Weiwei Song Bing Zhan Feihuang Xia Qigeng Duan 57 3 0 22 Aug 2023
DELO: Deep Evidential LiDAR Odometry using Partial Optimal Transport Sk Aziz Ali Djamila Aouada Gerd Reis D. Stricker 46 4 0 14 Aug 2023
Semi-Elastic LiDAR-Inertial Odometry Zikang Yuan Fengtian Lang Tianle Xu Ruiye Ming Chen-Ping Zhao Xin Yang 75 10 0 15 Jul 2023
Multi-Session, Localization-oriented and Lightweight LiDAR Mapping Using Semantic Lines and Planes Zehuan Yu Zhijian Qiao Liuyang Qiu Huan Yin Shaojie Shen 75 5 0 14 Jul 2023
LiDAR-Based Place Recognition For Autonomous Driving: A Survey Yongjun Zhang Pengcheng Shi Jiayuan Li 116 25 0 18 Jun 2023
Direct LiDAR-Inertial Odometry and Mapping: Perceptive and Connective SLAM Eason Chen Hanze Chen Yuen-Hsien Tseng 97 5 0 03 May 2023
Quadric Representations for LiDAR Odometry, Mapping and Localization Chao Xia Chenfeng Xu Patrick Rim Mingyu Ding N. Zheng Kurt Keutzer Masayoshi Tomizuka Wei Zhan 3DPC 98 5 0 27 Apr 2023
Visual-LiDAR Odometry and Mapping with Monocular Scale Correction and Visual Bootstrapping Hanyu Cai N. Ou Junzheng Wang 19 2 0 18 Apr 2023
DSMNet: Deep High-precision 3D Surface Modeling from Sparse Point Cloud Frames Changjie Qiu Zhiyong Wang Xiuhong Lin Yu Zang Cheng-i Wang Weiquan Liu 3DV 48 5 0 09 Apr 2023
HypLiLoc: Towards Effective LiDAR Pose Regression with Hyperbolic Fusion Sijie Wang Qiyu Kang Rui She Wei Wang K. Zhao Yang Song Wee Peng Tay 105 18 0 03 Apr 2023
Need for Speed: Fast Correspondence-Free Lidar-Inertial Odometry Using Doppler Velocity David J. Yoon Keenan Burnett Johann Laconte Yi Chen Heethesh Vhavle S. Kammel J. Reuther Timothy D. Barfoot 67 9 0 11 Mar 2023
Necessity Feature Correspondence Estimation for Large-scale Global Place Recognition and Relocalization Kyeongsu Kang Minjae Lee Hyeonwoo Yu 3DPC 55 0 0 11 Mar 2023
LIWO: Lidar-Inertial-Wheel Odometry Zikang Yuan Fengtian Lang Tianle Xu Xin Yang 59 5 0 28 Feb 2023
GeoLCR: Attention-based Geometric Loop Closure and Registration Jing Liang Sanghyun Son Ming Lin Tianyi Zhou 3DPC 84 1 0 27 Feb 2023
General, Single-shot, Target-less, and Automatic LiDAR-Camera Extrinsic Calibration Toolbox Kenji Koide Shuji Oishi Masashi Yokozuka A. Banno 3DV 80 65 0 10 Feb 2023
FR-LIO: Fast and Robust Lidar-Inertial Odometry by Tightly-Coupled Iterated Kalman Smoother and Robocentric Voxels Xiaoyu Zhao Yunzhou Zhang Yuezhang Lv Shiwen Liang 112 8 0 08 Feb 2023
Domain generalization of 3D semantic segmentation in autonomous driving Jules Sanchez Jean-Emmanuel Deschaud F. Goulette 3DPC 86 25 0 07 Dec 2022
X-ICP: Localizability-Aware LiDAR Registration for Robust Localization in Extreme Environments Turcan Tuna Julian Nubert Yoshua Nava Shehryar Khattak Marco Hutter Robotics Systems Lab 100 56 0 29 Nov 2022
SLICT: Multi-input Multi-scale Surfel-Based Lidar-Inertial Continuous-Time Odometry and Mapping Thien-Minh Nguyen Daniel Duberg Patric Jensfelt Shenghai Yuan Lihua Xie 74 44 0 07 Nov 2022
Lidar-level localization with radar? The CFEAR approach to accurate, fast and robust large-scale radar odometry in diverse environments Daniel Adolfsson Martin Magnusson Anas W. Alhashimi A. Lilienthal Henrik Andreasson 100 42 0 04 Nov 2022
Design, Field Evaluation, and Traffic Analysis of a Competitive Autonomous Driving Model in a Congested Environment Daegyu Lee Hyunki Seong Seung-Jun Han Gyuree Kang David Hyunchul Shim Yoonjin Yoon 60 5 0 31 Oct 2022
SR-LIO: LiDAR-Inertial Odometry with Sweep Reconstruction Zikang Yuan Fengtian Lang Tianle Xu Xin Yang 67 21 0 19 Oct 2022
KISS-ICP: In Defense of Point-to-Point ICP -- Simple, Accurate, and Robust Registration If Done the Right Way Ignacio Vizzo Tiziano Guadagnino Benedikt Mersch Louis Wiesmann Jens Behley C. Stachniss 3DPC 138 290 0 30 Sep 2022
Large-Scale LiDAR Consistent Mapping using Hierachical LiDAR Bundle Adjustment Xiyuan Liu Zheng Liu Fanze Kong Fu Zhang 159 48 0 24 Sep 2022
WGICP: Differentiable Weighted GICP-Based Lidar Odometry Sanghyun Son Jing Liang Ming Lin Tianyi Zhou 3DPC 28 1 0 20 Sep 2022
Efficient and Consistent Bundle Adjustment on Lidar Point Clouds Zheng Liu Xiyuan Liu Fu Zhang 3DPC 124 36 0 19 Sep 2022
Picking Up Speed: Continuous-Time Lidar-Only Odometry using Doppler Velocity Measurements Yuchen Wu David J. Yoon Keenan Burnett S. Kammel Yi Chen Heethesh Vhavle Timothy D. Barfoot 104 27 0 07 Sep 2022
Hilti-Oxford Dataset: A Millimetre-Accurate Benchmark for Simultaneous Localization and Mapping Lintong Zhang M. Helmberger L. Fu David Wisth Marco Camurri Davide Scaramuzza Maurice F. Fallon 108 49 0 21 Aug 2022
ECTLO: Effective Continuous-time Odometry Using Range Image for LiDAR with Small FoV Xin Zheng Jianke Zhu 80 5 0 17 Jun 2022
Analysis of Scale-Variant Robust Kernel Optimization for Non-linear Least Squares Problems Shounak Das Jason N. Gross 50 1 0 07 May 2022
Semantic Geometric Fusion Multi-object Tracking and Lidar Odometry in Dynamic Environment Tingchen Ma Y. Ou 79 9 0 25 Apr 2022
Direct LiDAR-Inertial Odometry: Lightweight LIO with Continuous-Time Motion Correction Kenny Chen R. Nemiroff B. Lopez 122 88 0 07 Mar 2022
The Hilti SLAM Challenge Dataset M. Helmberger K. Morin B. Berner Nitish Kumar Giovanni Cioffi Davide Scaramuzza 87 76 0 23 Sep 2021