High-Precision Motion Compensation for LiDAR Based on LiDAR Odometry

Algorithm 1

Soft-NMS-Select.

Input: key points set (C), radius , volume threshold

Output: new key points set ()={ }

  Create {}

  C = C.sorted(max min)

  whileC.size > 0 or =10 do

  .append()

  ifdo

  .append()

  C.remove()

  elsedo

  ifdo

  .append()

  C.remove()

  else do

  .append()

C.remove()

  end if

  end if

  end while

  return key points set ()