A full LiDAR SLAM pipeline with loop closure and local bundle adjustment based on spherical-harmonic patch maps achieves compact, globally consistent, continuously resolvable 3D mapping in real time on a CPU.
LOAM: LiDAR odometry and mapping in real- time,
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CURL-SLAM: Continuous and Compact LiDAR Mapping
A full LiDAR SLAM pipeline with loop closure and local bundle adjustment based on spherical-harmonic patch maps achieves compact, globally consistent, continuously resolvable 3D mapping in real time on a CPU.