GP-SLAM+: real-time 3D lidar SLAM based on improved regionalized Gaussian process map reconstruction
Jianyuan Ruan,Bo Li,Yinqiang Wang,Zhou Fang,Jianyuan Ruan,Bo Li,Yinqiang Wang,Zhou Fang
This paper presents a 3D lidar SLAM system based on improved regionalized Gaussian process (GP) map reconstruction to provide both low-drift state estimation and mapping in real-time for robotics applications. We utilize spatial GP regression to model the environment. This tool enables us to recover surfaces including those in sparsely scanned areas and obtain uniform samples with uncertainty. Tho...
