Niklas Trekel

Improving Map Consistency in Graph-Based LiDAR SLAM Through Information-Aware Odometry and Retroactive Loop Closure

Saurabh Gupta, Niklas Trekel, Louis Wiesmann, Cyrill Stachniss

High-quality maps are fundamental for robotics tasks such as navigation and planning. Although modern graph-based LiDAR SLAM systems achieve good trajectory accuracies, a low trajectory error alone does not guarantee geometrically consistent maps, particularly at revisit location…Read more