Abstract: Typical LiDAR SLAM architectures feature a front-end for odometry estimation and a back-end for refining and optimizing the trajectory and map, commonly through loop closures. However, loop ...

Abstract: Multisource sensor fusion has become a research focus in navigation and positioning. However, the Kalman filter algorithm faces issues with real-time performance and positioning accuracy ...

This folder contains the MATLAB scripts used to solve the workforce scheduling optimization problem using two different approaches: a heuristic method and an exact optimization method. A metaheuristic ...

Production-grade ROS2 backend for LiDAR SLAM that performs loop closure detection using Scan Context descriptors and pose graph optimization via GTSAM's ISAM2. It solves the global drift problem in ...