LIA-LO: an efficient 2D LiDAR odometry algorithm based on intersection point constraints between lines and coordinate axes

Purpose While existing 2D LiDAR algorithms can support mobile robots to perform localization and mapping in industrial scenarios, they often consume substantial computational resources, a critical limitation for lightweight robotic platforms. To enhance computational efficiency while maintaining localization accuracy, this paper aims to propose an efficient 2D LiDAR odometry algorithm based on the constraint of the intersection of lines and coordinate axes (LIA-LO). Design/methodology/approach T