MS-Mapping: An Uncertainty-Aware Large-Scale Multi-Session LiDAR Mapping System (2408.03723v1)

Abstract: Large-scale multi-session LiDAR mapping is essential for a wide range of applications, including surveying, autonomous driving, crowdsourced mapping, and multi-agent navigation. However, existing approaches often struggle with data redundancy, robustness, and accuracy in complex environments. To address these challenges, we present MS-Mapping, an novel multi-session LiDAR mapping system that employs an incremental mapping scheme for robust and accurate map assembly in large-scale environments. Our approach introduces three key innovations: 1) A distribution-aware keyframe selection method that captures the subtle contributions of each point cloud frame to the map by analyzing the similarity of map distributions. This method effectively reduces data redundancy and pose graph size, while enhancing graph optimization speed; 2) An uncertainty model that automatically performs least-squares adjustments according to the covariance matrix during graph optimization, improving mapping precision, robustness, and flexibility without the need for scene-specific parameter tuning. This uncertainty model enables our system to monitor pose uncertainty and avoid ill-posed optimizations, thereby increasing adaptability to diverse and challenging environments. 3) To ensure fair evaluation, we redesign baseline comparisons and the evaluation benchmark. Direct assessment of map accuracy demonstrates the superiority of the proposed MS-Mapping algorithm compared to state-of-the-art methods. In addition to employing public datasets such as Urban-Nav, FusionPortable, and Newer College, we conducted extensive experiments on such a large \SI{855}{m}$\times$\SI{636}{m} ground truth map, collecting over \SI{20}{km} of indoor and outdoor data across more than ten sequences...

Overview of "How to Use the IEEEtran LaTeX Templates"

The paper “How to Use the IEEEtran LaTeX Templates” by the IEEE Publication Technology Department provides comprehensive guidance on leveraging IEEEtran class in LaTeX for producing various IEEE publications, including conference papers, journal articles, and technical notes. The document is structured to cover the essential elements of IEEE-style manuscripts, offering practical advice for document formatting and ensuring compliance with IEEE standards.

Abstract and Introduction

The abstract notes that the IEEEtran class can be used to generate conference, journal, and technical papers with just the appropriate class options. The introduction explains the paper's purpose to be a user-friendly guide, encompassing the most frequently used elements of an IEEE journal article and referring users to the “IEEEtran_HOWTO.pdf” for less common elements.

Design Intent and Limitations

The document clearly articulates that the templates are designed to approximate the final appearance and length of the articles/papers. However, they are not intended to be the final versions as published on IEEEXplore®. Instead, the LaTeX files aim to facilitate conversion to XML, which is subsequently utilized by IEEE’s vendors for final publication formatting, including print, PDF on IEEEXplore®, and HTML versions.

Access to LaTeX Distributions and IEEEtran Templates

For those seeking LaTeX distributions, the IEEE recommends the TeX User Group (TUG) distribution. The IEEE Template Selector is the recommended source for up-to-date versions of LaTeX and MS Word templates. It’s noted that while many publications use IEEEtran templates, some may have unique variations based on specific publication requirements.

Document Class Options

The paper details the various IEEEtran document class options for different types of publications:

• Regular Journal Article: \documentclass[journal]{IEEEtran}
• Conference Paper: \documentclass[conference]{IEEEtran}
• Computer Society Journal Article: \documentclass[10pt,journal,compsoc]{IEEEtran}
• Computer Society Conference Paper: \documentclass[conference,compsoc]{IEEEtran}
• Communications Society Journal Article: \documentclass[journal,comsoc]{IEEEtran}
• Technote or Correspondence: \documentclass[9pt,technote]{IEEEtran}

These options facilitate correct document formatting according to the type of IEEE publication.

Common Front and Body Elements

The guide expediently explains how to create frequently used front matter elements, such as paper titles, author names and affiliations, running heads, and abstracts. It also covers index terms essential for discoverability.

For body elements, proper LaTeX syntax for initial drop cap letters, sections, subsections, figure and table inclusion, citation formatting, and lists are meticulously outlined. Specific attention is given to IEEE-specific styling, such as using the drop cap for the first letter of the first paragraph.

Back Matter Elements

The guide describes how to effectively include back matter elements, such as acknowledgments, bibliographies, and appendices. It provides examples for bibliographic entries, particularly using the \bibitem macro, and offers advice on using BibTeX for more comprehensive bibliographies.

Advanced Mathematical Typography

The paper explores mathematical typesetting, emphasizing the importance of typographical conventions for clarity and uniformity. Examples of display equations, multi-line equations, and matrix environments are provided. The proper usage of LaTeX environments to achieve consistent mathematical formatting is underscored.

Additional Advice

Practical tips emphasize avoiding obsolete coding practices, such as using eqnarray and $$</code> delimiters. The recommended delimiters for various types of display equations, such as <code>$$...$, \begin{equation*}...\end{equation*}, and \begin{align*}...\end{align*}, are detailed to maintain proper equation vertical spacing and alignment.

LaTeX Packages and Cross-Referencing

Package recommendations for enhanced functionality and cross-referencing best practices are provided. The document underscores the importance of using "soft" references (e.g., \eqref{}) for increased flexibility in document structure changes.

Implications and Future Developments

The document's thoroughness in guiding authors from setup to final manuscript preparation holds significant practical implications for ensuring that submissions adhere to IEEE standards. It facilitates the smooth transition from manuscript creation to final production. Future developments may include enhancements in template flexibility and further integrated support for new publication formats, such as interactive and multi-media rich content.

Conclusion

The paper is an indispensable resource for researchers and authors preparing IEEE publications using LaTeX. Its detailed, step-by-step approach ensures that users can efficiently navigate IEEEtran templates, conform to IEEE publication standards, and produce well-formatted documents suitable for submission to IEEE journals and conferences.