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About this paper
Xiangcheng Hu, Linwei Zheng, Jin Wu, Ruoyu Geng, Yang Yu, Hexiang Wei, Xiaoyu Tang, Lujia Wang and 2 more
PALoc generates reference trajectories by combining a prior map with LiDAR–inertial odometry in a factor graph. It checks map-match constraints for degeneracy and adds no-motion and gravity factors. On MCR_normal_00, removing the degeneracy-aware map factor increased ATE from 5.00 to 9.61 cm, but this is one sequence and PALoc still requires a prior map.
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