A CNN-based object detection module is added to a 2D LiDAR/IMU SLAM system, with claimed reductions in indoor localization error, but the supporting evidence is inconsistent and incomplete.
Lidar-imu tightly- coupled slam method based on iekf and loop closure detection,
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MDF: Multi-Modal Data Fusion with CNN-Based Object Detection for Enhanced Indoor Localization Using LiDAR-SLAM
A CNN-based object detection module is added to a 2D LiDAR/IMU SLAM system, with claimed reductions in indoor localization error, but the supporting evidence is inconsistent and incomplete.