Greedy-Based Feature Selection for Efficient LiDAR SLAM
Jianhao Jiao,Yilong Zhu,Haoyang Ye,Huaiyang Huang,Peng Yun,Linxin Jiang,Lujia Wang,Ming Liu,Jianhao Jiao,Yilong Zhu,Haoyang Ye,Huaiyang Huang,Peng Yun,Linxin Jiang,Lujia Wang,Ming Liu
Modern LiDAR-SLAM (L-SLAM) systems have shown excellent results in large-scale, real-world scenarios. However, they commonly have a high latency due to the expensive data association and nonlinear optimization. This paper demonstrates that actively selecting a subset of features significantly improves both the accuracy and efficiency of an L-SLAM system. We formulate the feature selection as a com...
