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    Adaptive Multi-Sensor Fusion for SLAM: A Scan Context-Driven Approach by Yijing Zhang, Jia Liu, Runxi Cao, Yunxi Zhang

    Published 2025-01-01
    “…Finally, global optimization is performed to correct accumulated errors in the entire trajectory and map. In KAIST02 and Riverside01 sequences of MulRan dataset, the root mean square error of the absolute pose error of the proposed method is reduced by 85.17% and 91.30% compared with LVI-SAM, respectively. …”
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