Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Robust Odometry and Mapping for Multi-LiDAR Systems with Online
  Extrinsic Calibration   Combining multiple LiDARs enables a robot to maximize its perceptual
awareness of environments and obtain sufficient measurements, which is
promising for simultaneous localization and mapping (SLAM). This paper proposes
a system to achieve robust and simultaneous extrinsic calibration, odometry,
and mapping for multiple LiDARs. Our approach starts with measurement
preprocessing to extract edge and planar features from raw measurements. After
a motion and extrinsic initialization procedure, a sliding window-based
multi-LiDAR odometry runs onboard to estimate poses with online calibration
refinement and convergence identification. We further develop a mapping
algorithm to construct a global map and optimize poses with sufficient features
together with a method to model and reduce data uncertainty. We validate our
approach's performance with extensive experiments on ten sequences (4.60km
total length) for the calibration and SLAM and compare them against the
state-of-the-art. We demonstrate that the proposed work is a complete, robust,
and extensible system for various multi-LiDAR setups. The source code,
datasets, and demonstrations are available at
https://ram-lab.com/file/site/m-loam.

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The categories of this paper are: hep-ph
15
The categories of this paper are: nucl-ex
3
The categories of this paper are: physics
5
The categories of this paper are: gr-qc
36
The categories of this paper are: cmp-lg
14
The categories of this paper are: math-ph
23
The categories of this paper are: solv-int
19
The categories of this paper are: eess
37
The categories of this paper are: supr-con
4
The categories of this paper are: cond-mat
27
The categories of this paper are: comp-gas
25
The categories of this paper are: patt-sol
32
The categories of this paper are: atom-ph
26
The categories of this paper are: bayes-an
2
The categories of this paper are: math
11
The categories of this paper are: hep-lat