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

<div>(a) Connection diagram of each module of the robot: (b) physical diagram of Turtlebot3 Waffle Pi; (c) physical diagram of the robot.</div>

Security and Communication Networks

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Figure 8

Figure 8: A Graph Optimization-Based Acoustic SLAM Edge Computing System Offering Centimeter-Level Mapping Services with Reflector Recognition Capability 

Figure 8 | A Graph Optimization-Based Acoustic SLAM Edge Computing System Offering Centimeter-Level Mapping Services with Reflector Recognition Capability 