LIN-SLAM: Lightweight LiDAR--Inertial Neural SLAM for Real-Time Onboard Navigation
아직 한국어판이 없어 영어 원문으로 표시.
초록 발췌
Geometric light detection and ranging (LiDAR)--inertial simultaneous localization and mapping (SLAM) provides efficient state estimation but lacks the continuous map representation and global refinement capabilities of neural implicit SLAM, while neural implicit methods remain computationally expensive. We propose Lightweight LiDAR--Inertial Neural SLAM (LIN-SLAM), a hybrid method that couples high-rate geometric LiDAR--inertial estimation with neural implicit tracking, continual mapping, and global refinement for accurate real-time onboard SLAM.
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