PIN-SLAM: LiDAR SLAM Using a Point-Based Implicit Neural Representation for Achieving Global Map Consistency.
Yue PanXingguang ZhongLouis WiesmannThorbjörn PosewskyJens BehleyCyrill StachnissPublished in: CoRR (2024)
Keyphrases
- loop closing
- simultaneous localization and mapping
- mobile robot
- map building
- topological map
- robot navigation
- visual slam
- indoor environments
- mobile robotics
- monocular slam
- data association
- network architecture
- object and scene recognition
- robot moves
- parametric representation
- cognitive map
- particle filter
- image representation
- high resolution
- state space
- loop closure
- maximum a posteriori
- path planning
- computer vision
- feature maps
- dynamic environments
- digital elevation models
- topographic maps
- global consistency
- outdoor environments
- consistency checking
- point cloud
- biologically inspired