F-LOAM : Fast LiDAR Odometry and Mapping

  title={F-LOAM : Fast LiDAR Odometry and Mapping},
  author={Han Wang and Chen Wang and Chun-Lin Chen and Lihua Xie},
  journal={2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  • Han WangChen Wang Lihua Xie
  • Published 2 July 2021
  • Computer Science
  • 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
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… 

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