A modified-Hausdorff-distance 2D lidar scan matcher fused with an EKF achieves reasonably accurate SLAM in orchards without IMU or GNSS, but results against A-LOAM are mixed.
Torres-Torriti , P
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Robust 2D lidar-based SLAM in arboreal environments without IMU/GNSS
A modified-Hausdorff-distance 2D lidar scan matcher fused with an EKF achieves reasonably accurate SLAM in orchards without IMU or GNSS, but results against A-LOAM are mixed.