Prof. Dr. Didier Stricker
Dr. Alain Pagani
Dr. Gerd Reis
Eric Thil
Nicole Stephanie Buhlinger
Keonna Cunningham
Jason Raphael Rambach
Dr. Oliver Wasenmüller
Dr. Gabriele Bleser
Dr. Bertram Taetz
Sk Aziz Ali
Rashed Al Koutayni
Yuriy Anisimov
Jilliam Maria Diaz Barros
Ramy Battrawy
Hammad Butt
Mahdi Chamseddine
Steve Dias da Cruz
Fangwen Shu
Torben Fetzer
Michael Fürst
Christiano Couto Gava
Tewodros Amberbir Habtegebrial
Hartmut Feld
Jigyasa Katrolia
Andreas Kölsch
Onorina Kovalenko
Stephan Krauß
Paul Lesur
Muhammad Jameel Nawaz Malik
Mina Ameli
Nareg Minaskan Karabid
Pramod Murthy
Mathias Musahl
Peter Neigel
Manthan Pancholi
María Alejandra Sánchez Marín
Kripasindhu Sarkar
Alexander Schäfer
René Schuster
Mohamed Selim
Dennis Stumpf
Yongzhi Su
Xiaoying Tan
André Luiz Brandão
Ahmet Firintepe
Vladislav Golyanik
Aditya Tewari
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.