LiDAR SLAM on Sequential trajectories simulation (Robot 1)
3.62Trajectory Position RMSE (m)the proposed decentralized LiDAR-SLAM system
Evaluation results
| Method | Links | |
|---|---|---|
| the proposed decentralized LiDAR-SLAM systemPGO backend=certifiably optimal, descriptor=Scan-Context2026.05 | 3.62 | |
| LIO-SAM-odometryloop closure=false2026.05 | 7.01 | |
| DiSCo-SLAMtype=distributed LiDAR-inertial SLAM, descriptor=Scan-Context2026.05 | 7.09 |