2021/05/27 by Kirill Krinkin, Krinkin, Kirill, Antón Filatov +2
Computer Science · Earth and Planetary Sciences · Engineering · Environmental Science · #3D Surveying and Cultural Heritage #FOS: Computer and information sciences #Remote Sensing and LiDAR Applications #Robotics (cs.RO) #Robotics and Sensor-Based Localization #cs.RO
paper · pdf · doi:10.48550/arxiv.2105.12983
arxiv created 2021/05/27 · openalex publication_date 2021/05/27 · arxiv updated 2021/05/28 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
Modern laser SLAM (simultaneous localization and mapping) and structure from motion algorithms face the problem of processing redundant data. Even if a sensor does not move, it still continues to capture scans that should be processed. This paper presents the novel filter that allows dropping 2D scans that bring no new information to the system. Experiments on MIT and TUM datasets show that it is possible to drop more than half of the scans. Moreover thepaper describes the formulas that enable filter adaptation to a particular robot with known speed and characteristics of lidar. In addition, the indoor corridor detector is introduced that also can be applied to any specific shape of a corridor and sensor.