High-Precision Motion Compensation for LiDAR Based on LiDAR Odometry

Figure 9

Principle diagram of point cloud dedistortion of the moving object. The vector is the normal vector of the object. (a) shows that the coordinate offset of the center point is used to estimate the translation transformation of the object, and (b) estimates the rotation transformation of the object by the offset of the normal vector before and after the transformation.

(a) Translational transform

(b) Rotation transformation