Weighted Conformal LiDAR-Mapping for Structured SLAM

One of the main challenges in simultaneous localization and mapping (SLAM) is real-time processing. High-computational loads linked to data acquisition processing complicate this task. This article presents an efficient feature extraction approach for structured environments. The proposed methodology, weighted conformal LiDAR-mapping (WCLM), based on polygonal profiles propagation uncertainties from raw measurement data. achieved using M bius transformation. algorithm has been validated experimentally 2-D obtained a low-cost Light Detection Ranging (LiDAR) range finder. results suggest that computational efficiency significantly improved with reference other state-of-the-art SLAM approaches.