An unsupervised LiDAR odometry system trained on clear weather attains low drift on snowy and dynamic test scenes using patch dispersion scoring, point weights, and an intensity mask.
Loam: Lidar odometry and mapping in real- time,
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Generalizing Unsupervised Lidar Odometry Model from Normal to Snowy Weather Conditions
An unsupervised LiDAR odometry system trained on clear weather attains low drift on snowy and dynamic test scenes using patch dispersion scoring, point weights, and an intensity mask.