A Graph Optimization-Based Acoustic SLAM Edge Computing System Offering Centimeter-Level Mapping Services with Reflector Recognition Capability

<div>(a) Square room (8 ∗ 8). (b) Rectangle room (8 ∗ 6). (c) Pipeline room (10 ∗ 4).</div>

Security and Communication Networks

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Figure 10

Figure 10: A Graph Optimization-Based Acoustic SLAM Edge Computing System Offering Centimeter-Level Mapping Services with Reflector Recognition Capability 

Figure 10 | A Graph Optimization-Based Acoustic SLAM Edge Computing System Offering Centimeter-Level Mapping Services with Reflector Recognition Capability 