Corpus ID: 235727638

F-LOAM: Fast LiDAR Odometry And Mapping

  title={F-LOAM: Fast LiDAR Odometry And Mapping},
  author={Han Wang and Chen Wang and Chunlin Chen and Lihua Xie},
  • Han Wang, Chen Wang, +1 author Lihua Xie
  • Published 2021
  • Computer Science
  • ArXiv
Simultaneous Localization and Mapping (SLAM) has wide robotic applications such as autonomous driving and unmanned aerial vehicles. Both computational efficiency and localization accuracy are of great importance towards a good SLAM system. Existing works on LiDAR based SLAM often formulate the problem as two modules: scan-to-scan match and scan-to-map refinement. Both modules are solved by iterative calculation which are computationally expensive. In this paper, we propose a general solution… Expand

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