Yongjian Fu, Zongchun Li, Hua He, Li Wang, Cong Li. HRegNet-LO: LiDAR Odometry Measurement Based on End-to-End Deep Neural Network[J]. Acta Optica Sinica, 2023, 43(24): 2428003
- Acta Optica Sinica
- Vol. 43, Issue 24, 2428003 (2023)
Fig. 1. Flow chart of HRegNet-LO algorithm
Fig. 2. Feature points extraction result of a point cloud
![Flow chart of HRegNet registration network[19]](/Images/icon/loading.gif){kind=icon}
Fig. 3. Flow chart of HRegNet registration network[19]
Fig. 4. Illustration of feature points matching. (a) Point set
Fig. 5. Visualization of results of proposed algorithm on testing datasets along each coordinate axis. (a) Seq 08; (b) Seq 09; (c) Seq 10
Fig. 6. Aerial view of results of proposed algorithm on testing datasets. (a) Seq 08; (b) Seq 09; (c) Seq 10
Fig. 7. Fixed distance relative errors of three algorithms on testing datasets. (a) Seq 08; (b) Seq 09; (c) Seq 10
Fig. 8. Fixed distance relative errors of algorithms in ablation experiments. (a) Seq 08; (b) Seq 09; (c) Seq 10
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Table 1. Details of experimental datasets
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Table 2. Accuracy and time consuming of three algorithms on testing datasets
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Table 3. Results of ablation experiments
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