TEAPOT: Summary of LiDAR related work in WP3

Abstract

This memo summarises the work done on positioning with LiDAR technology within the TEAPOT project. The aim is to get insights to the performance of LiDAR technology as a source og positioning technology under snowy conditions. In particular, we focus on the LiDARs ability to update a global position without GNSS availability, using 1) a visual odometry based algorithm that navigates using the differences between successive LiDAR images, and 2) navigation within an existing georeferenced point cloud.