RELLIS-3D

Semantic-weighted ICP for LiDAR Odometry: Class-Aware Residual Reweighting for Robust Scan Registration

Announce Type: new Abstract: LiDAR odometry is a fundamental component of autonomous robotic systems, relying on geometric registration between consecutive point clouds to estimate ego-motion. However, traditional geometric approaches often degrade in dynamic or unstructured environments due to unreliable correspondences caused by moving objects, sparse geometric features, vegetation, and semantically ambiguous structures. Existing works have shown that, some of these limitations can be...