Greedy-Based Feature Selection for Efficient LiDAR SLAM
Jianhao Jiao Yilong Zhu Haoyang Ye Huaiyang Huang Peng Yun Linxin Jiang Lujia Wang Ming Liu Jianhao Jiao Yilong Zhu Haoyang Ye Huaiyang Huang Peng Yun Linxin Jiang Lujia Wang Ming Liu
Modern LiDAR-SLAM (L-SLAM) systems have shown excellent results in large-scale, real-world scenarios. However, they commonly have a high latency due to the expensive data association and nonlinear optimization. This paper demonstrates that actively selecting a subset of features significantly improves both the accuracy and efficiency of an L-SLAM system. We formulate the feature selection as a com...