Qiyan Li

VoxelMap++: Mergeable Voxel Mapping Method for Online LiDAR(-Inertial) Odometry

This letter presents VoxelMap++: a voxel mapping method with plane merging which can effectively improve the accuracy and efficiency of LiDAR(-inertial) based simultaneous localization and mapping (SLAM). This map is a collection of voxels that contains one plane feature with 3DOF representation and