LLOL: Low-Latency Odometry for Spinning Lidars
Chao Qu, Shreyas S. Shivakumar, Wenxin Liu, Camillo J. Taylor
Abstract
In this paper, we present a low-latency odometry system designed for spinning lidars. Many existing lidar odometry methods wait for an entire sweep from the lidar before processing the data. This introduces a large delay between the first laser firing and its pose estimate. To reduce this latency, we treat the spinning lidar as a streaming sensor and process packets as they arrive. This effectively distributes expensive operations across time, resulting in a very fast and lightweight system with a much higher throughput and lower latency. Our open source implementation is available at https://github.com/versatran01/llol.
Topics & Concepts
OdometryLidarComputer scienceLatency (audio)SpinningLow latency (capital markets)Real-time computingNetwork packetArtificial intelligenceRangingComputer visionRemote sensingComputer networkGeologyEngineeringTelecommunicationsRobotMechanical engineeringMobile robotRemote Sensing and LiDAR ApplicationsRobotics and Sensor-Based LocalizationAdvanced Optical Sensing Technologies