A Real-Time 3D Perception and Reconstruction System Based on a 2D Laser Scanner

<div>Comparison of odometry estimation by using scan-to-sweep method with scan-to-local map method: left figures are the results of scan-to-sweep method, which have bigger accumulative drift. Right figures are the results of our method, which have much smaller drift.</div>

Journal of Sensors

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Figure 16

Figure 16: A Real-Time 3D Perception and Reconstruction System Based on a 2D Laser Scanner 