Large-Scale LiDAR SLAM with Factor Graph Optimization on High-Level Geometric Features

Although visual SLAM (simultaneous localization and mapping) methods obtain very accurate results using optimization of residual errors defined with respect to the matching features, the SLAM systems based on 3-D laser (LiDAR) data commonly employ variants of the iterative closest points algorithm a...

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Detalles Bibliográficos
Autores principales: Ćwian, Krzysztof, Nowicki, Michał R., Wietrzykowski, Jan, Skrzypczyński, Piotr
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2021
Materias:
Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8156327/
https://www.ncbi.nlm.nih.gov/pubmed/34063368
http://dx.doi.org/10.3390/s21103445

Internet

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8156327/
https://www.ncbi.nlm.nih.gov/pubmed/34063368
http://dx.doi.org/10.3390/s21103445

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