Prof. Dr. Didier Stricker
Dr. Alain Pagani
Dr. Gerd Reis
M.A. Eric Thil
Nicole Stephanie Buhlinger
Keonna Cunningham
Dr. Oliver Wasenmüller
Dr. Gabriele Bleser
Dr. Bertram Taetz
M.Sc Rashed Al Koutayni
Yuriy Anisimov
Ramy Battrawy
Hammad Butt
Mahdi Chamseddine
Steve Dias da Cruz
M.Sc. Fangwen Shu
Torben Fetzer
Michael Fürst
Christiano Couto Gava
Vladislav Golyanik
Hartmut Feld
Andreas Kölsch
Onorina Kovalenko
Stephan Krauß
Paul Lesur
Muhammad Jameel Nawaz Malik
Nareg Minaskan Karabid
Mathias Musahl
Peter Neigel
Manthan Pancholi
Jason Raphael Rambach
María Alejandra Sánchez Marín
Kripasindhu Sarkar
Alexander Schäfer
René Schuster
Mohamed Selim
M.Sc. Dennis Stumpf
Yongzhi Su
Xiaoying Tan
Aditya Tewari
André Luiz Brandão
Ahmet Firintepe
Sk Aziz Ali
Jilliam Maria Diaz Barros
Tewodros Amberbir Habtegebrial
Mina Ameli
Pramod Murthy
DeLiO: Decoupled LiDAR Odometry
DeLiO: Decoupled LiDAR Odometry
IEEE Intelligent Vehicles Symposium. IEEE Intelligent Vehicles Symposium (IV-2019) IEEE 2019 .
- Abstract:
- Most LiDAR odometry algorithms estimate the transformation between two consecutive frames by estimating the rotation and translation in an intervening fashion. In this paper, we propose our Decoupled LiDAR Odometry (DeLiO), which -- for the first time -- decouples the rotation estimation completely from the translation estimation. In particular, the rotation is estimated by extracting the surface normals from the input point clouds and tracking their characteristic pattern on a unit sphere. Using this rotation the point clouds are unrotated so that the underlying transformation is pure translation, which can be easily estimated using a line cloud approach. An evaluation is performed on the KITTI dataset and the results are compared against state-of-the-art algorithms.