TT-OGM projects 3D LiDAR scans to 2D, estimates pose with GICP, and uses a GAN trained on undisclosed synthetic data to clean occupancy grids, claiming superior map quality on a single large building.
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Transformation & Translation Occupancy Grid Mapping: 2-Dimensional Deep Learning Refined SLAM
TT-OGM projects 3D LiDAR scans to 2D, estimates pose with GICP, and uses a GAN trained on undisclosed synthetic data to clean occupancy grids, claiming superior map quality on a single large building.