SuMa – Surfel-based Mapping using 3D Laser Range Data
Mapping of 3d laser range data from a rotating laser range scanner, e.g., the Velodyne HDL-64E. For representing the map, we use surfels that enables fast rendering of the map for point-to-plane ICP and loop closure detection. If you use our implementation in your academic work, please cite the corresponding paper: J. Behley, C. Stachniss. Efficient Surfel-Based SLAM using 3D Laser Range Data in Urban Environments, Proc. of Robotics: Science and Systems (RSS), 2018 (pdf).
This code is related to the following publications:
J. Behley, C. Stachniss. Efficient Surfel-Based SLAM using 3D Laser Range Data in Urban Environments, Proc. of Robotics: Science and Systems (RSS), 2018 (pdf).