LiDAR SLAM on Sequential trajectories simulation (Robot 2)
2.38Trajectory 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 | 2.38 | |
| DiSCo-SLAMtype=distributed LiDAR-inertial SLAM, descriptor=Scan-Context2026.05 | 2.73 | |
| LIO-SAM-odometryloop closure=false2026.05 | 4.9 |