Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Efficient Continuous-Time SLAM for 3D Lidar-Based Online Mapping   Modern 3D laser-range scanners have a high data rate, making online
simultaneous localization and mapping (SLAM) computationally challenging.
Recursive state estimation techniques are efficient but commit to a state
estimate immediately after a new scan is made, which may lead to misalignments
of measurements. We present a 3D SLAM approach that allows for refining
alignments during online mapping. Our method is based on efficient local
mapping and a hierarchical optimization back-end. Measurements of a 3D laser
scanner are aggregated in local multiresolution maps by means of surfel-based
registration. The local maps are used in a multi-level graph for allocentric
mapping and localization. In order to incorporate corrections when refining the
alignment, the individual 3D scans in the local map are modeled as a sub-graph
and graph optimization is performed to account for drift and misalignments in
the local maps. Furthermore, in each sub-graph, a continuous-time
representation of the sensor trajectory allows to correct measurements between
scan poses. We evaluate our approach in multiple experiments by showing
qualitative results. Furthermore, we quantify the map quality by an
entropy-based measure.

16
The categories of this paper are: stat
32
The categories of this paper are: atom-ph
9
The categories of this paper are: nlin
0
The categories of this paper are: hep-ph
37
The categories of this paper are: supr-con
20
The categories of this paper are: acc-phys
33
The categories of this paper are: plasm-ph
8
The categories of this paper are: hep-ex
31
The categories of this paper are: ao-sci
15
The categories of this paper are: nucl-ex
2
The categories of this paper are: math
18
The categories of this paper are: econ
13
The categories of this paper are: quant-ph
26
The categories of this paper are: bayes-an
5
The categories of this paper are: gr-qc
6
The categories of this paper are: astro-ph