π-LSAM: LiDAR Smoothing and Mapping With Planes
Lipu Zhou Shengze Wang Michael Kaess Lipu Zhou Shengze Wang Michael Kaess
This paper introduces a real-time dense planar LiDAR SLAM system, named π-LSAM, for the indoor environment. The widely used LiDAR odometry and mapping (LOAM) framework [1] does not include bundle adjustment (BA) and generates a low fidelity tracking pose. This paper seeks to overcome these drawbacks for the indoor environment. Specifically, we use the plane as the landmark, and introduce plane adj...