High-Precision Motion Compensation for LiDAR Based on LiDAR Odometry

Table 1

Comparison of ablation results.

Method	LiDAR compensation	Motion compensation	APE in cm
			Max	Mean	Median	RMSE	SSE	Std
A-LOAM	—	—	67.8541	14.4364	10.4834	20.7422	611797	14.8919
	√	—	52.6475	11.2146	8.99951	16.1594	425757	12.2473
	√	√	36.6778	8.12781	5.76563	11.2797	180924	7.82116
LEGO-LOAM	—	—	14.8682	4.08091	2.9907	5.8075	47959.9	4.13198
	√	—	12.6464	3.25944	2.91616	4.45671	31614.5	3.25294
	√	√	12.5331	2.93791	2.85014	4.15562	24556.8	2.93902
T-LOAM	—	—	8.1165	2.1564	2.1168	3.9515	26546.4	2.16445
	√	—	6.5941	1.9594	2.2661	3.5941	21646.1	1.94865
	√	√	5.3911	1.9849	2.6489	3.1646	19816.7	1.89446