A Light-Weight LiDAR-Inertial SLAM System with High Efficiency and Loop Closure Detection Capacity.
Kangcheng LiuHuosen OuPublished in: ICARM (2022)
Keyphrases
- high efficiency
- lightweight
- loop closure
- simultaneous localization and mapping
- error accumulation
- bundle adjustment
- high accuracy
- outdoor environments
- kalman filter
- mobile robot
- lidar data
- loop closing
- map building
- structure from motion
- wireless sensor networks
- computer vision
- mobile robotics
- robot navigation
- point cloud
- vision system
- least squares