SLAM2REF: advancing long-term mapping with 3D LiDAR and reference map integration for precise 6-DoF trajectory estimation and map extension
Miguel A. Vega-Torres,
Alexander Braun,
André Borrmann
Abstract:This paper presents a pioneering solution to the task of integrating mobile 3D LiDAR and inertial measurement unit (IMU) data with existing building information models or point clouds, which is crucial for achieving precise long-term localization and mapping in indoor, GPS-denied environments. Our proposed framework, SLAM2REF, introduces a novel approach for automatic alignment and map extension utilizing reference 3D maps. The methodology is supported by a sophisticated multi-session anchoring technique, whic… Show more
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