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

<div>(a) Schematic diagram of the RIR cepstrum echo markers. The red circle is the RIR cepstrum, and the green dashed line is the upper and lower boundaries of the RIR cepstrum. (b) Comparison of the F1-scores of method 1 and method 2.</div>

Security and Communication Networks

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Figure 11

Figure 11: A Graph Optimization-Based Acoustic SLAM Edge Computing System Offering Centimeter-Level Mapping Services with Reflector Recognition Capability 

Figure 11 | A Graph Optimization-Based Acoustic SLAM Edge Computing System Offering Centimeter-Level Mapping Services with Reflector Recognition Capability 