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

<div>F1-score results for different <i>σ</i> values: (a) square room, (b) rectangle room, and (c) pipeline room.</div>

Security and Communication Networks

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Figure 12

Figure 12: A Graph Optimization-Based Acoustic SLAM Edge Computing System Offering Centimeter-Level Mapping Services with Reflector Recognition Capability 

Figure 12 | A Graph Optimization-Based Acoustic SLAM Edge Computing System Offering Centimeter-Level Mapping Services with Reflector Recognition Capability 