# Real-Time Ground Normal Vector Estimation for Spherical Mobile 3D Mapping Using LiDAR-Inertial Odometry

- Source: arXiv cs.RO
- Published: 2026-10-22T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/lr44zqip7ri8mninrox5r89bj
- Original: https://arxiv.org/abs/2610.28701

## Summary

The study proposes two RANSAC-based ground normal vector estimation methods: single-scan estimation and estimation based on a LiDAR-inertial odometry (LIO) global 3D map, for odometry in a spherical mobile mapping system (SMMS). Evaluated on diverse real-world datasets against terrestrial laser scanner ground truth, the LIO method significantly outperforms the single-scan method in accuracy and robustness. Integrating ground normal vector estimation into the motion model improves pose estimation and supports autonomous navigation in hazardous environments.