RA-L submission

Extended experiments on KITTI-360 (SLAM evaluation)
Ouster bias estimation with point-to-plane distance

v0.0.2

Removed dependency on data package: https://github.com/tpet/data.
Fixed ICP point-to-plane loss.
Full training pipeline on FEE Corridor data set (including poses initialization from SLAM).
Experiments and results code for the paper.

v0.0.1

Depth correction models:

• Linear,
• Polynomial,
• ScaledPolynomial,
• InvCos,
• ScaledInvCos.

Supported datasets (wrappers are implemented in data package):

• ASL laser,
• KITTI Odometry,
• KITTI-360,
• NewerCollege,
• Depth Correction.

Map consistency losses:

• $\lambda_{1}$ - minimum eigenvalue loss,
• $trace(Q)$ - trace loss,
• ICP loss (point-to-point or point-to-plane distances between neighboring points).