Efficient Velodyne SLAM with point and plane features

This paper develops and tests a plane based simultaneous localization and mapping algorithm capable of processing the uneven sampling density of Velodyne-style scanning LiDAR sensors in real-time. The algorithm uses an efficient plane detector to rapidly provide stable features, both for localization and as landmarks in a graph-based SLAM. When planes cannot be detected or when they provide insufficient support for localization, a novel...