arxivcs.RO2026-06-29
Self-supervised Geometry Reasoning for LiDAR Simultaneous Localization and Mapping
Jiwoo Kim, Jinwoo Lee, Woojae Shin, Giseop Kim, Hyondong Oh
LiDAR simultaneous localization and mapping (SLAM) relies on local geometric quantities such as covariances, correspondences, and surface structures. However, most existing pipelines rely on hand-crafted estimates of local geometry and use them as fixed inputs to LiDAR SLAM, whic…