High-Precision Motion Compensation for LiDAR Based on LiDAR Odometry

Figure 1

Distortion caused by LiDAR’s own motion. In the figure, the coordinate system on the right is the initial coordinate system of a sweep. The vehicles in the figure have multiple positions in the current sweep period, so there are multiple observation coordinate systems, resulting in the description of object under measurement in multiple observation coordinate systems, thus affecting the measurement result.