LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain

We propose a lightweight and ground-optimized lidar odometry and mapping method, LeGO-LOAM, for realtime six degree-of-freedom pose estimation with ground vehicles. LeGO-LOAM is lightweight, as it can achieve realtime pose estimation on a low-power embedded system. LeGO-LOAM is ground-optimized, as ... View More