OptMap generates compact, application-specific geometric maps from streaming LiDAR data using a novel submodular reward function and a dynamically reordered streaming maximization algorithm.
The oxford spires dataset: Benchmarking large-scale lidar-visual localisation, reconstruction and radiance field methods,
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OptMap: Geometric Map Distillation via Submodular Maximization
OptMap generates compact, application-specific geometric maps from streaming LiDAR data using a novel submodular reward function and a dynamically reordered streaming maximization algorithm.