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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...
| Autores principales: | , , , |
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| Formato: | Online Artículo Texto |
| Lenguaje: | English |
| Publicado: |
MDPI
2021
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| Materias: | |
| 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 |