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Yufei Lu

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Aug 2026

ObsGuide: A Plug-and-Play Observability-Guided Residual Selection Method for Accurate LiDAR Odometry

Light detection and ranging (LiDAR)-based odometry and mapping is a cornerstone of robotic perception and navigation. Recent work has primarily improved the accuracy of LiDAR odometry either by feeding every available residual into the optimizer or by resorting to multisensor fusion; however, the intrinsic information...

Yufei Lu, Qun Hao, Shaohui Zhang · 0 citations

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