Stretch-ICP: A Continuous-Trajectory Registration and Deskewing Algorithm in Scenarios of Aggressive Motions
Iterative Closest Point (ICP). Stretch-ICP reduces linear and angular velocity errors by 95.2% and 94.8%, respectively, at scan boundaries. Together, these contributions improve the robustness and consistency of lidar-inertial state estimation under aggressive motions.
Authors
- Philippe Giguère (ORCID: https://orcid.org/0000-0002-7520-8290)
- Simon-Pierre Deschênes (ORCID: https://orcid.org/0000-0003-0594-5487)
- Veronica Vannini (ORCID: https://orcid.org/0000-0003-2847-0314)
- François Pomerleau (ORCID: https://orcid.org/0000-0003-1288-2744)
Institutions
- Center for Northern Studies (CA)
- Université Laval (CA)
Publication Details
- Journal
- Sensors
- Published
- 2026-04-21
- DOI
- https://doi.org/10.3390/s26082567
- Primary Topic
- Robotics and Sensor-Based Localization
- Type
- article
- Field-Weighted Citation Impact
- 0.00
Funders
- Natural Sciences and Engineering Research Council of Canada
- Fonds de recherche du Québec – Nature et technologies