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

<div>(a) Statistics of robot self-positioning error and reflected wall position estimation error. (b) Histogram of probability distribution of self-positioning error. (c) Histogram of probability distribution of mapping error.</div>

Security and Communication Networks

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Figure 14

Figure 14: A Graph Optimization-Based Acoustic SLAM Edge Computing System Offering Centimeter-Level Mapping Services with Reflector Recognition Capability 

Figure 14 | A Graph Optimization-Based Acoustic SLAM Edge Computing System Offering Centimeter-Level Mapping Services with Reflector Recognition Capability 