Lightweight 3-D Localization and Mapping for Solid-State LiDAR

  title={Lightweight 3-D Localization and Mapping for Solid-State LiDAR},
  author={Han Wang and Chen Wang and Lihua Xie},
  journal={IEEE Robotics and Automation Letters},
The LIght Detection And Ranging (LiDAR) sensor has become one of the most important perceptual devices due to its important role in simultaneous localization and mapping (SLAM). Existing SLAM methods are mainly developed for mechanical LiDAR sensors, which are often adopted by large scale robots. Recently, the solid-state LiDAR is introduced and becomes popular since it provides a cost-effective and lightweight solution for small scale robots. Compared to mechanical LiDAR, solid-state LiDAR… 

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