mlsanityData to 7 Oct 2026

Real-time Multi-Adaptive-Resolution-Surfel 6D LiDAR Odometry using Continuous-time Trajectory Optimization

arXiv 2105.02010 ↗First posted 5 May 2021cs.RO cs.CVcited by 9

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Abstract (arXiv)

Simultaneous Localization and Mapping (SLAM) is an essential capability for autonomous robots, but due to high data rates of 3D LiDARs real-time SLAM is challenging. We propose a real-time method for 6D LiDAR odometry. Our approach combines a continuous-time B-Spline trajectory representation with a Gaussian Mixture Model (GMM) formulation to jointly align local multi-resolution surfel maps. Sparse voxel grids and permutohedral lattices ensure fast access to map surfels, and an adaptive resolution selection scheme effectively speeds up registration. A thorough experimental evaluation shows the performance of our approach on multiple datasets and during real-robot experiments.

Key facts. Cited by 9 papers in the map (data through 7 Oct 2026). Builds on 11 of its 21 references that are in the map. First posted on arXiv 5 May 2021.

Builds on

11 of 21 references.

References · 11

  1. 2020The Newer College Dataset: Handheld LiDAR, Inertial and Vision with Ground Truthcited by 61
  2. 2019LatticeNet: Fast Point Cloud Segmentation Using Permutohedral Latticescited by 38
  3. 2019Tightly Coupled 3D Lidar Inertial Odometry and Mappingcited by 34
  4. 2019Efficient Derivative Computation for Cumulative B-Splines on Lie Groupscited by 28
  5. 2018Efficient Continuous-Time SLAM for 3D Lidar-Based Online Mappingcited by 23
  6. 2019LINS: A Lidar-Inertial State Estimator for Robust and Efficient Navigationcited by 17
  7. 2019UrbanLoco: A Full Sensor Suite Dataset for Mapping and Localization in Urban Scenescited by 17
  8. 2017Elastic LiDAR Fusion: Dense Map-Centric Continuous-Time SLAMcited by 12
  9. 2020Towards Resilient Autonomous Navigation of Dronescited by 8
  10. 2018Fast Autonomous Flight in Warehouses for Inventory Applicationscited by 4
  11. 2021Autonomous Flight in Unknown GNSS-denied Environments for Disaster Examinationcited by 3

Built on by

Cited by year

Citing papers per year: 2021: 2; 2022: 3; 2023: 1; 2024: 2; 2025: 1.

9 papers.

  1. 2021CT-ICP: Real-time Elastic LiDAR Odometry with Loop Closurecited by 38
  2. 2024DiffSSC: Semantic LiDAR Scan Completion using Denoising Diffusion Probabilistic Modelscited by 16
  3. 2022Real-Time Multi-Modal Semantic Fusion on Unmanned Aerial Vehicles with Label Propagation for Cross-Domain Adaptationcited by 6
  4. 20223D Semantic Scene Perception using Distributed Smart Edge Sensorscited by 5
  5. 2023Traj-LO: In Defense of LiDAR-Only Odometry Using an Effective Continuous-Time Trajectorycited by 4
  6. 2025Splat-LOAM: Gaussian Splatting LiDAR Odometry and Mappingcited by 4
  7. 2021Real-Time Multi-Modal Semantic Fusion on Unmanned Aerial Vehiclescited by 0
  8. 2022Online Localisation and Colored Mesh Reconstruction Architecture for 3D Visual Feedback in Robotic Exploration Missionscited by 0
  9. 2024LiDAR-based Registration against Georeferenced Models for Globally Consistent Allocentric Mapscited by 0