Globally Consistent 3D LiDAR Mapping with GICP Matching Cost Factors

Globally Consistent 3D LiDAR Mapping with GICP Matching Cost Factors

Kenji Koide, Masashi Yokozuka, Shuji Oishi, and Atsuhiko Banno

Parameters used in the experiment

Mean map entropy (MME)

Definition

Per-point entropy:

Mean map entropy:

* Razlaw et al., "Evaluation of registration methods for sparse 3D laser scans", ECMR2015.

MME of the proposed method and SuMa

Global map optimization time

Real-time processing

Real processing speed (20FPS)

* All the module are running jointly

Real KITTI data speed (10FPS) for reference