fast lio2比较特别的一点是删除了特征提取模块，而是直接将点云配准到地图[6]；paper显示：使用5个地图...
类似于GICP。
point2point：kd-tree找近邻点+点到点距离残差 point2edge：kd-tree找近邻线点构成直线+点到线距离残...
Voxelized Gicp for Fast and Accurate 3d Point Cloud Registration. In Proceedings of the 2021 IEEE International Conference on Robotics and Automation (ICRA), Xi’an, China, 30 May–5 June 2021; pp. 11054–11059. [Google Scholar] He, Y.; Lee, C.-H. An Improved ICP Registration Algorithm...
In the meantime, high precision General Iterative Closest Points (GICP) is utilized to register a point cloud in the motion transformation optimization. To improve the accuracy of SLAM, the reduced dynamic covariance scaling (DCS) algorithm is formulated as a global optimization problem under the ...