Description
In long corridors or tunnels with identical walls, LiDAR odometry drifts or fails. GenZ-ICP from POSTECH is a LiDAR odometry that stays robust in degenerate environments.
It adaptively blends point-to-point and point-to-plane registration, leading in corridors and tunnels, with ROS and ROS 2; IEEE RA-L 2025.
Degenerate scenes:Corridors and tunnels.
Adaptive:Point-to-point plus plane.
Robust:Less drift.
ROS 2:Easy integration.
It adaptively blends point-to-point and point-to-plane registration, leading in corridors and tunnels, with ROS and ROS 2; IEEE RA-L 2025.
Features
Degenerate scenes:Corridors and tunnels.
Adaptive:Point-to-point plus plane.
Robust:Less drift.
ROS 2:Easy integration.
