ICRA 2023 - Hilti SLAM Challenge (Day 5)

(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

 

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Tencent TXR SLAM

• 어두운 곳에서는 Histogram equalization을 사용함