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simmediumroboticsmetric · varies
CT-VoxelMap: Efficient Continuous-Time LiDAR-Inertial Odometry with Probabilistic Adaptive Voxel Mapping
Description
Maintaining stable and accurate localization during fast motion or on rough terrain remains highly challenging for mobile robots with onboard resources. Currently, multi-sensor fusion methods based on continuous-time representation offer a potential and effective solution to this challenge. Among these, spline-based methods provide an efficient and intuitive approach for continuous-time representation. Previous continuous-time odometry works based on B-splines either treat control points as vari