ICRA 2023 - Hilti SLAM Challenge (Day 5)

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(적는 중)

Maplab 2.0

  • Process
    • Odometry
    • Single session optimization
    • Rigid alignment with vision
    • GLobal map optimization
    • Global LiDAR fine tuning
  • Raw Maps:
    • OKVIS or FAST-LIO2
      • SuperPoint + SuperGlue
  • Rigid Alignment
    • PCA for compression
    • Search with HNSW (Malkov 2018 - Efficient and robust approximate nearest neighbor search using hierarchical navigable small world graphs)

KAIST

  • AdaLIO
    • Detects degenerate cases and chanages parameters adaptively.
  • Quatro

 

Tencent TXR SLAM

  • 어두운 곳에서는 Histogram equalization을 사용함