PFilter: Building Persistent Maps through Feature Filtering for Fast and Accurate LiDAR-based SLAM
Yifan Duan,Jie Peng,Yu Zhang,Jianmin Ji,Yanyong Zhang,Yifan Duan,Jie Peng,Yu Zhang,Jianmin Ji,Yanyong Zhang
Simultaneous localization and mapping (SLAM) based on laser sensors has been widely adopted by mobile robots and autonomous vehicles. These SLAM systems are required to support accurate localization with limited computational resources. In particular, point cloud registration, i.e., the process of matching and aligning multiple LiDAR scans collected at multiple locations in a global coordinate fra...
