LiTAMIN2: Ultra Light LiDAR-based SLAM using Geometric Approximation applied with KL-Divergence
Masashi Yokozuka Kenji Koide Shuji Oishi Atsuhiko Banno Masashi Yokozuka Kenji Koide Shuji Oishi Atsuhiko Banno
In this paper, a three-dimensional light detection and ranging simultaneous localization and mapping (SLAM) method is proposed that is available for tracking and mapping with 500–1000 Hz processing. The proposed method significantly reduces the number of points used for point cloud registration using a novel ICP metric to speed up the registration process while maintaining accuracy. Point cloud re...