適応的時間間隔に基づく連続時間LiDARオンリーオドメトリ

原文アブストラクト

The motion distortion in LiDAR scans caused by aggressive robot motion and varying terrain features significantly impacts the positioning and mapping performance of 3D LiDAR odometry. Existing distortion correction solutions often struggle to balance computational complexity and accuracy. In this work, we propose an Adaptive Temporal Interval-based Continuous-Time LiDAR-only Odometry, utilizing straightforward and efficient linear interpolation. Our method flexibly adjusts the temporal intervals between control nodes according to the dynamics of motion and environmental characteristics. This adaptability enhances performance across various motion states and improves robustness in challenging, feature-sparse environments. We validate the effectiveness of our method on multiple datasets across different platforms, achieving accuracy comparable to state-of-the-art LiDAR-only odometry methods. Notably, in scenarios involving aggressive motion and sparse features, our method outperforms existing solutions.