2Fast-2Lamaa: Large-Scale Lidar-Inertial Localization and Mapping with Continuous Distance Fields

arXiv:2410.05433 · cs.RO · Submitted 2024-10-07 · Read on arXiv

cs.RO

Submitted: 2024-10-07

Updated: 2026-09-16

Comments: Published in The International Journal of Robotics Research

DOI: 10.1177/02783649261451003

Code: https://github.com/clegenti/2fast2lamaa

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

Accuracy — 28× in this paper · explained in 1 episode
Benchmark — 28× in this paper · explained in 2 episodes
Core — 10× in this paper · explained in 2 episodes
Point Clouds — 10× in this paper · explained in 2 episodes
Ablation — 9× in this paper · explained in 1 episode
Consistency — 9× in this paper · explained in 3 episodes
Alignment — 8× in this paper · explained in 1 episode
Ablation study — 7× in this paper · explained in 1 episode
Gaussian Process — 5× in this paper
Calibration — 4× in this paper · explained in 7 episodes
Feature Extraction — 3× in this paper · explained in 2 episodes
Hybrid Approach — 3× in this paper · explained in 4 episodes
Robustness — 3× in this paper · explained in 5 episodes
Benchmarking — 2× in this paper · explained in 3 episodes
Gaussian Splatting — 2× in this paper · explained in 4 episodes
Absolute Trajectory Error — 1× in this paper
Generalization — 1× in this paper · explained in 13 episodes
Inertial Measurement Unit — 1× in this paper
Iterative Closest Point — 1× in this paper
Latent Space — 1× in this paper · explained in 7 episodes
Loss Function — 1× in this paper · explained in 2 episodes
Relative Pose Error — 1× in this paper
Truncated Signed Distance Field — 1× in this paper
alpha — 1× in this paper · explained in 1 episode

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