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cs.RO2024
CELLmap: Enhancing LiDAR SLAM through Elastic and Lightweight Spherical Map Representation
Yifan Duan, Xinran Zhang, Yao Li +4
SLAM is a fundamental capability of unmanned systems, with LiDAR-based SLAM gaining widespread adoption due to its high precision. Current SLAM systems can achieve centimeter-level…
cs.RO2024
Rotation Initialization and Stepwise Refinement for Universal LiDAR Calibration
Yifan Duan, Xinran Zhang, Guoliang You +8
Autonomous systems often employ multiple LiDARs to leverage the integrated advantages, enhancing perception and robustness. The most critical prerequisite under this setting is the…