Large-Scale LiDAR SLAM with Factor Graph Optimization on High-Level Geometric Features

Krzysztof Ćwian; Michał R. Nowicki; Jan Wietrzykowski; Piotr Skrzypczyński

doi:10.3390/s21103445

Scientific Information System of the Poznań University of Technology

PL EN

Main page / Publications / Large-Scale LiDAR SLAM with Factor Graph Optimization on High-Level Geometric Features

Submit a comment

Article

Download BibTeX

Title

Large-Scale LiDAR SLAM with Factor Graph Optimization on High-Level Geometric Features

Authors

Krzysztof Ćwian (WARiE) ^{[ 1 ][ 2.2 ][ SzD ]}
Michał R. Nowicki (WARiE) ^{[ 1 ][ 2.2 ][ P ]}
Jan Wietrzykowski (WARiE) ^{[ 1 ][ 2.2 ][ P ]}
Piotr Skrzypczyński (WARiE) ^{[ 1 ][ 2.2 ][ P ]}

^{[ 1 ]} Instytut Robotyki i Inteligencji Maszynowej, Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | ^{[ SzD ]} doctoral school student | ^{[ P ]} employee

Scientific discipline (Law 2.0)

[2.2] Automation, electronics and electrical engineering

Year of publication

2021

Published in

Sensors

Journal year: 2021 | Journal volume: vol. 21 | Journal number: no. 10

Article type

scientific article

Publication language

english

Keywords

EN

3-D LiDAR
SLAM
geometric features
optimization
bundle adjustment

Pages (from - to)

3445-1 - 3445-31

DOI

10.3390/s21103445

URL

https://www.mdpi.com/1424-8220/21/10/3445

License type

CC BY (attribution alone)

Open Access Mode

open journal

Open Access Text Version

final published version

Date of Open Access to the publication

at the time of publication

Ministry points / journal

100

Ministry points / journal in years 2017-2021

100

Impact Factor

3,847

System created by Poznań University of Technology and Poznan Supercomputing and Networking Center

Log in through eKonto to add to SIS