Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Observation Contribution Theory for Pose Estimation Accuracy   The improvement of pose estimation accuracy is currently the fundamental
problem in mobile robots. This study aims to improve the use of observations to
enhance accuracy. The selection of feature points affects the accuracy of pose
estimation, leading to the question of how the contribution of observation
influences the system. Accordingly, the contribution of information to the pose
estimation process is analyzed. Moreover, the uncertainty model, sensitivity
model, and contribution theory are formulated, providing a method for
calculating the contribution of every residual term. The proposed selection
method has been theoretically proven capable of achieving a global statistical
optimum. The proposed method is tested on artificial data simulations and
compared with the KITTI benchmark. The experiments revealed superior results in
contrast to ALOAM and MLOAM. The proposed algorithm is implemented in LiDAR
odometry and LiDAR Inertial odometry both indoors and outdoors using diverse
LiDAR sensors with different scan modes, demonstrating its effectiveness in
improving pose estimation accuracy. A new configuration of two laser scan
sensors is subsequently inferred. The configuration is valid for
three-dimensional pose localization in a prior map and yields results at the
centimeter level.

30
The categories of this paper are: q-alg
10
The categories of this paper are: q-bio
27
The categories of this paper are: comp-gas
3
The categories of this paper are: physics
4
The categories of this paper are: cond-mat
28
The categories of this paper are: alg-geom
23
The categories of this paper are: solv-int
32
The categories of this paper are: atom-ph
31
The categories of this paper are: ao-sci
14
The categories of this paper are: math-ph
21
The categories of this paper are: adap-org
26
The categories of this paper are: bayes-an
20
The categories of this paper are: acc-phys
18
The categories of this paper are: econ
33
The categories of this paper are: plasm-ph
11
The categories of this paper are: hep-lat