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同一圖的俯視圖","http:\u002F\u002Fcreativecommons.org\u002Flicenses\u002Fby\u002F4.0\u002F","https:\u002F\u002Far5iv.labs.arxiv.org\u002Fhtml\u002F2212.11770\u002Fassets\u002Fimages\u002Furchet1_floor_2_5.png","\u002Ffigure-files\u002Fsgraphsplus2023\u002Ffig-1.webp",599,695,"\u002Ffigure-files\u002Fsgraphsplus2023\u002Ffig-1.thumb.webp",557,{"key":72,"refId":57,"refLabel":58,"refTitle":59,"year":60,"cluster":61,"fig":11,"whatZh":73,"license":13,"licenseShort":13,"licenseUrl":64,"sourceUrl":74,"src":75,"width":76,"height":77,"thumb":78,"thumbWidth":20,"thumbHeight":79,"modified":22,"modifiedZh":23},"-figure-files-sgraphsplus2023-fig-2","S-Graphs+ 系統架構：LiDAR 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SimpleMapping","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2510.04612v1\u002Fv102_meshes.png","\u002Ffigure-files\u002Fokvis2x2025\u002Ffig-7.webp",1103,536,"\u002Ffigure-files\u002Fokvis2x2025\u002Ffig-7.thumb.webp",233,{"key":125,"refId":102,"refLabel":103,"refTitle":104,"year":105,"cluster":106,"fig":126,"whatZh":127,"license":108,"licenseShort":13,"licenseUrl":64,"sourceUrl":128,"src":129,"width":30,"height":130,"thumb":131,"thumbWidth":20,"thumbHeight":132,"modified":34,"modifiedZh":35},"-figure-files-okvis2x2025-fig-9","Fig. 9","由體積子地圖產生的三維重建，左為學習式深度、右為 LiDAR，上排 Hilti exp06、下排 VBR Ciampino0","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2510.04612v1\u002Ffigures\u002Fevaluation\u002Fmeshes-mod.png","\u002Ffigure-files\u002Fokvis2x2025\u002Ffig-9.webp",729,"\u002Ffigure-files\u002Fokvis2x2025\u002Ffig-9.thumb.webp",250,{"key":134,"refId":102,"refLabel":103,"refTitle":104,"year":105,"cluster":106,"fig":135,"whatZh":136,"license":108,"licenseShort":13,"licenseUrl":64,"sourceUrl":137,"src":138,"width":30,"height":139,"thumb":140,"thumbWidth":20,"thumbHeight":141,"modified":34,"modifiedZh":35},"-figure-files-okvis2x2025-fig-10","Fig. 10","VBR Campus1 所有子地圖疊合的重建與加入 GNSS 的即時軌跡，標示 GNSS 可用與中斷區段","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2510.04612v1\u002Ffigures\u002Fevaluation\u002Ffigure-gnss-combined.png","\u002Ffigure-files\u002Fokvis2x2025\u002Ffig-10.webp",462,"\u002Ffigure-files\u002Fokvis2x2025\u002Ffig-10.thumb.webp",158,{"key":143,"refId":144,"refLabel":145,"refTitle":146,"year":147,"cluster":10,"fig":62,"whatZh":148,"license":13,"licenseShort":13,"licenseUrl":14,"sourceUrl":149,"src":150,"width":30,"height":151,"thumb":152,"thumbWidth":20,"thumbHeight":153,"modified":34,"modifiedZh":35},"-figure-files-cai2021ikdtree-fig-1","cai2021ikdtree","Cai et al., 2021","ikd-Tree: An Incremental K-D Tree for Robotic Applications",2021,"增量式 k-d 樹插入新點與局部重新平衡的立體示意","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2102.10808v1\u002Fkd_tree_space.png","\u002Ffigure-files\u002Fcai2021ikdtree\u002Ffig-1.webp",732,"\u002Ffigure-files\u002Fcai2021ikdtree\u002Ffig-1.thumb.webp",251,{"key":155,"refId":144,"refLabel":145,"refTitle":146,"year":147,"cluster":10,"fig":11,"whatZh":156,"license":13,"licenseShort":13,"licenseUrl":14,"sourceUrl":157,"src":158,"width":30,"height":159,"thumb":160,"thumbWidth":20,"thumbHeight":79,"modified":34,"modifiedZh":35},"-figure-files-cai2021ikdtree-fig-2","樹上降採樣前後的點雲對照","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2102.10808v1\u002Fdownsample.png","\u002Ffigure-files\u002Fcai2021ikdtree\u002Ffig-2.webp",691,"\u002Ffigure-files\u002Fcai2021ikdtree\u002Ffig-2.thumb.webp",{"key":162,"refId":144,"refLabel":145,"refTitle":146,"year":147,"cluster":10,"fig":163,"whatZh":164,"license":13,"licenseShort":13,"licenseUrl":14,"sourceUrl":165,"src":166,"width":167,"height":168,"thumb":169,"thumbWidth":20,"thumbHeight":170,"modified":22,"modifiedZh":23},"-figure-files-cai2021ikdtree-fig-6","Fig. 6","FAST-LIO 中 ikd-Tree 與靜態 k-d 樹融合一筆新掃描的時間、時間分解與平衡指標","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2102.10808v1\u002Ffastlio_exp_combine_1.png","\u002Ffigure-files\u002Fcai2021ikdtree\u002Ffig-6.webp",790,710,"\u002Ffigure-files\u002Fcai2021ikdtree\u002Ffig-6.thumb.webp",431,{"key":172,"refId":144,"refLabel":145,"refTitle":146,"year":147,"cluster":10,"fig":116,"whatZh":173,"license":13,"licenseShort":13,"licenseUrl":14,"sourceUrl":174,"src":175,"width":30,"height":176,"thumb":177,"thumbWidth":20,"thumbHeight":178,"modified":34,"modifiedZh":35},"-figure-files-cai2021ikdtree-fig-7","香港大學本部大樓 100 Hz 建圖成果與 LiDAR 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配準在感知電腦執行後回饋修正","https:\u002F\u002Fwww.frontiersin.org\u002Ffiles\u002FArticles\u002F520900\u002Ffrobt-07-00068-HTML\u002Fimage_m\u002Ffrobt-07-00068-g005.jpg","\u002Ffigure-files\u002Fpronto2020\u002Ffigure-5.webp",311,"\u002Ffigure-files\u002Fpronto2020\u002Ffigure-5.thumb.webp",279,{"key":193,"refId":181,"refLabel":182,"refTitle":183,"year":184,"cluster":106,"fig":194,"whatZh":195,"license":13,"licenseShort":13,"licenseUrl":64,"sourceUrl":196,"src":197,"width":121,"height":198,"thumb":199,"thumbWidth":20,"thumbHeight":200,"modified":22,"modifiedZh":23},"-figure-files-pronto2020-figure-7","Figure 7","Atlas 在 DRC 決賽資料上的 AICP 表現：上方為 206 片點雲對齊結果的上視圖，左為含人群的原始點雲，右為濾除後點雲；下方比較未套用修正時閥門在各片點雲中位置不一致，以及定位成功後估測一致的結果","https:\u002F\u002Fwww.frontiersin.org\u002Ffiles\u002FArticles\u002F520900\u002Ffrobt-07-00068-HTML\u002Fimage_m\u002Ffrobt-07-00068-g007.jpg","\u002Ffigure-files\u002Fpronto2020\u002Ffigure-7.webp",372,"\u002Ffigure-files\u002Fpronto2020\u002Ffigure-7.thumb.webp",333,{"key":202,"refId":181,"refLabel":182,"refTitle":183,"year":184,"cluster":106,"fig":203,"whatZh":204,"license":13,"licenseShort":13,"licenseUrl":64,"sourceUrl":205,"src":206,"width":207,"height":208,"thumb":209,"thumbWidth":20,"thumbHeight":210,"modified":22,"modifiedZh":23},"-figure-files-pronto2020-figure-9","Figure 9","HyQ 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在消防訓練場的實驗：場景照片、機上相機畫面（水面反光），以及估測軌跡與真值比較","https:\u002F\u002Fwww.frontiersin.org\u002Ffiles\u002FArticles\u002F520900\u002Ffrobt-07-00068-HTML\u002Fimage_m\u002Ffrobt-07-00068-g012.jpg","\u002Ffigure-files\u002Fpronto2020\u002Ffigure-12.webp",384,"\u002Ffigure-files\u002Fpronto2020\u002Ffigure-12.thumb.webp",170,{"key":221,"refId":222,"refLabel":223,"refTitle":224,"year":9,"cluster":61,"fig":62,"whatZh":225,"license":13,"licenseShort":13,"licenseUrl":64,"sourceUrl":226,"src":227,"width":30,"height":228,"thumb":229,"thumbWidth":20,"thumbHeight":230,"modified":34,"modifiedZh":35},"-figure-files-charron2026slamcentric-fig-1","charron2026slamcentric","Charron et al., 2026","SLAM-centric visual inspection of civil 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地面無人車與無人水面載具，均搭載相同的感測基礎模組","https:\u002F\u002Fars.els-cdn.com\u002Fcontent\u002Fimage\u002F1-s2.0-S0926580525007228-gr6_lrg.jpg","\u002Ffigure-files\u002Fcharron2026slamcentric\u002Ffig-6.webp",354,"\u002Ffigure-files\u002Fcharron2026slamcentric\u002Ffig-6.thumb.webp",121,{"key":240,"refId":222,"refLabel":223,"refTitle":224,"year":9,"cluster":61,"fig":135,"whatZh":241,"license":13,"licenseShort":13,"licenseUrl":64,"sourceUrl":242,"src":243,"width":30,"height":244,"thumb":245,"thumbWidth":20,"thumbHeight":246,"modified":34,"modifiedZh":35},"-figure-files-charron2026slamcentric-fig-10","以垂直光達（vertical lidar）生成的巡檢點雲：上排為停車場、下排為橋梁，左為平面圖、右為斜視圖","https:\u002F\u002Fars.els-cdn.com\u002Fcontent\u002Fimage\u002F1-s2.0-S0926580525007228-gr10_lrg.jpg","\u002Ffigure-files\u002Fcharron2026slamcentric\u002Ffig-10.webp",1014,"\u002Ffigure-files\u002Fcharron2026slamcentric\u002Ffig-10.thumb.webp",348,{"key":248,"refId":222,"refLabel":223,"refTitle":224,"year":9,"cluster":61,"fig":249,"whatZh":250,"license":13,"licenseShort":13,"licenseUrl":64,"sourceUrl":251,"src":252,"width":30,"height":253,"thumb":254,"thumbWidth":20,"thumbHeight":255,"modified":34,"modifiedZh":35},"-figure-files-charron2026slamcentric-fig-18","Fig. 18","橋梁所有缺陷標註以不同顏色疊合在完整點雲地圖上","https:\u002F\u002Fars.els-cdn.com\u002Fcontent\u002Fimage\u002F1-s2.0-S0926580525007228-gr18_lrg.jpg","\u002Ffigure-files\u002Fcharron2026slamcentric\u002Ffig-18.webp",623,"\u002Ffigure-files\u002Fcharron2026slamcentric\u002Ffig-18.thumb.webp",214,{"key":257,"refId":258,"refLabel":259,"refTitle":260,"year":261,"cluster":262,"fig":62,"whatZh":263,"license":13,"licenseShort":13,"licenseUrl":64,"sourceUrl":264,"src":265,"width":266,"height":267,"thumb":268,"thumbWidth":20,"thumbHeight":269,"modified":22,"modifiedZh":23},"-figure-files-sumapp2019-fig-1","sumapp2019","Chen et al., 2019","SuMa++: Efficient LiDAR-based Semantic SLAM",2019,"C04","以 SuMa++ 只用 LiDAR 掃描建立的 KITTI 語意面元地圖，面元顏色代表語意類別","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2105.11320v1\u002Foverview.png","\u002Ffigure-files\u002Fsumapp2019\u002Ffig-1.webp",1089,1761,"\u002Ffigure-files\u002Fsumapp2019\u002Ffig-1.thumb.webp",776,{"key":271,"refId":258,"refLabel":259,"refTitle":260,"year":261,"cluster":262,"fig":11,"whatZh":272,"license":13,"licenseShort":13,"licenseUrl":64,"sourceUrl":273,"src":274,"width":30,"height":275,"thumb":276,"thumbWidth":20,"thumbHeight":277,"modified":34,"modifiedZh":35},"-figure-files-sumapp2019-fig-2","系統流程圖：RangeNet++ 語意分割、多類別洪水填充修正、語意動態過濾與語意 ICP 嵌入 SuMa","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2105.11320v1\u002Fpipeline.png","\u002Ffigure-files\u002Fsumapp2019\u002Ffig-2.webp",486,"\u002Ffigure-files\u002Fsumapp2019\u002Ffig-2.thumb.webp",167,{"key":279,"refId":258,"refLabel":259,"refTitle":260,"year":261,"cluster":262,"fig":280,"whatZh":281,"license":13,"licenseShort":13,"licenseUrl":64,"sourceUrl":282,"src":283,"width":284,"height":285,"thumb":286,"thumbWidth":20,"thumbHeight":287,"modified":22,"modifiedZh":23},"-figure-files-sumapp2019-fig-4-panel-b","Fig. 4 (panel b)","動態過濾效果比較中 SuMa++ 的面元地圖，移動車輛被移除而停放車輛保留","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2105.11320v1\u002Fdynamic_filter_suma++.png","\u002Ffigure-files\u002Fsumapp2019\u002Ffig-4-panel-b.webp",1086,1140,"\u002Ffigure-files\u002Fsumapp2019\u002Ffig-4-panel-b.thumb.webp",504,{"key":289,"refId":258,"refLabel":259,"refTitle":260,"year":261,"cluster":262,"fig":290,"whatZh":291,"license":13,"licenseShort":13,"licenseUrl":64,"sourceUrl":292,"src":293,"width":294,"height":295,"thumb":296,"thumbWidth":294,"thumbHeight":295,"modified":22,"modifiedZh":23},"-figure-files-sumapp2019-fig-6-panel-b","Fig. 6 (panel b)","KITTI 公路序列中 SuMa++ 的點雲地圖，點色代表首次觀測時間，交通標誌一致對齊","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2105.11320v1\u002Fseq20_suma++.png","\u002Ffigure-files\u002Fsumapp2019\u002Ffig-6-panel-b.webp",205,260,"\u002Ffigure-files\u002Fsumapp2019\u002Ffig-6-panel-b.thumb.webp",{"key":298,"refId":299,"refLabel":300,"refTitle":301,"year":184,"cluster":302,"fig":62,"whatZh":303,"license":13,"licenseShort":13,"licenseUrl":14,"sourceUrl":304,"src":305,"width":30,"height":306,"thumb":307,"thumbWidth":20,"thumbHeight":308,"modified":34,"modifiedZh":35},"-figure-files-overlapnet2020-fig-1","overlapnet2020","Chen et al., 2020","OverlapNet: Loop Closing for LiDAR-based SLAM","C06","迴圈位置兩次掃描（藍、橙點）在不同相對轉換下的重疊示意。","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2105.11344v1\u002Fpics\u002Fmotivation.png","\u002Ffigure-files\u002Foverlapnet2020\u002Ffig-1.webp",1149,"\u002Ffigure-files\u002Foverlapnet2020\u002Ffig-1.thumb.webp",394,{"key":310,"refId":299,"refLabel":300,"refTitle":301,"year":184,"cluster":302,"fig":311,"whatZh":312,"license":13,"licenseShort":13,"licenseUrl":14,"sourceUrl":313,"src":314,"width":30,"height":315,"thumb":316,"thumbWidth":20,"thumbHeight":317,"modified":34,"modifiedZh":35},"-figure-files-overlapnet2020-fig-3","Fig. 3","OverlapNet 流程：由單次掃描產生距離、法向量、強度與語意影像，經共享權重的雙腿與兩個輸出頭預測重疊率與偏航角。","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2105.11344v1\u002Farchitecture.png","\u002Ffigure-files\u002Foverlapnet2020\u002Ffig-3.webp",494,"\u002Ffigure-files\u002Foverlapnet2020\u002Ffig-3.thumb.webp",169,{"key":319,"refId":299,"refLabel":300,"refTitle":301,"year":184,"cluster":302,"fig":320,"whatZh":321,"license":13,"licenseShort":13,"licenseUrl":14,"sourceUrl":322,"src":323,"width":30,"height":324,"thumb":325,"thumbWidth":20,"thumbHeight":326,"modified":34,"modifiedZh":35},"-figure-files-overlapnet2020-fig-4","Fig. 4","Delta 層以串接與轉置計算兩組特徵體所有像素差值的示意。","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2105.11344v1\u002Fdelta_layer.png","\u002Ffigure-files\u002Foverlapnet2020\u002Ffig-4.webp",830,"\u002Ffigure-files\u002Foverlapnet2020\u002Ffig-4.thumb.webp",285,{"key":328,"refId":329,"refLabel":330,"refTitle":331,"year":332,"cluster":333,"fig":334,"whatZh":335,"license":13,"licenseShort":13,"licenseUrl":14,"sourceUrl":336,"src":337,"width":338,"height":339,"thumb":340,"thumbWidth":20,"thumbHeight":341,"modified":22,"modifiedZh":23},"-figure-files-cticp2022-fig-1-bottom","cticp2022","Dellenbach et al., 2022","CT-ICP: Real-time Elastic LiDAR Odometry with Loop Closure",2022,"C05","Fig. 1 (bottom)","CT-ICP 軌跡參數化示意：每次掃描以起訖兩位姿內插，相鄰掃描之間允許不連續","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2109.12979v2\u002Fimages\u002Fschema_v4.png","\u002Ffigure-files\u002Fcticp2022\u002Ffig-1-bottom.webp",960,300,"\u002Ffigure-files\u002Fcticp2022\u002Ffig-1-bottom.thumb.webp",150,{"key":343,"refId":329,"refLabel":330,"refTitle":331,"year":332,"cluster":333,"fig":344,"whatZh":345,"license":13,"licenseShort":13,"licenseUrl":14,"sourceUrl":346,"src":347,"width":30,"height":348,"thumb":349,"thumbWidth":20,"thumbHeight":350,"modified":34,"modifiedZh":35},"-figure-files-cticp2022-fig-1-top","Fig. 1 (top)","單次 LiDAR 掃描依各點時間戳記著色，經掃描起點與終點兩個位姿之間的彈性變形後對齊白色地圖點；下方軌跡示意見下一筆","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2109.12979v2\u002Fimages\u002Ffig1.jpg","\u002Ffigure-files\u002Fcticp2022\u002Ffig-1-top.webp",974,"\u002Ffigure-files\u002Fcticp2022\u002Ffig-1-top.thumb.webp",334,{"key":352,"refId":329,"refLabel":330,"refTitle":331,"year":332,"cluster":333,"fig":11,"whatZh":353,"license":13,"licenseShort":13,"licenseUrl":14,"sourceUrl":354,"src":355,"width":356,"height":357,"thumb":358,"thumbWidth":20,"thumbHeight":359,"modified":22,"modifiedZh":23},"-figure-files-cticp2022-fig-2","CT-ICP 在 NCLT、KITTI-CARLA、Newer College 與 ParisLuco 產生的累積點雲；連結為 Newer College 手持資料的子圖","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2109.12979v2\u002Fimages\u002Fncd_aggregated.png","\u002Ffigure-files\u002Fcticp2022\u002Ffig-2.webp",986,640,"\u002Ffigure-files\u002Fcticp2022\u002Ffig-2.thumb.webp",312,{"key":361,"refId":329,"refLabel":330,"refTitle":331,"year":332,"cluster":333,"fig":320,"whatZh":362,"license":13,"licenseShort":13,"licenseUrl":14,"sourceUrl":363,"src":364,"width":365,"height":366,"thumb":367,"thumbWidth":20,"thumbHeight":217,"modified":22,"modifiedZh":23},"-figure-files-cticp2022-fig-4","KITTI-360 序列 00 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4.0","https:\u002F\u002Fcreativecommons.org\u002Flicenses\u002Fby-nc-sa\u002F4.0\u002F","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2403.01449v2\u002Fbackground.png","\u002Ffigure-files\u002Fdufomap2024\u002Ffig-1.webp",788,"\u002Ffigure-files\u002Fdufomap2024\u002Ffig-1.thumb.webp",270,{"key":383,"refId":370,"refLabel":371,"refTitle":372,"year":373,"cluster":302,"fig":384,"whatZh":385,"license":375,"licenseShort":375,"licenseUrl":376,"sourceUrl":386,"src":387,"width":30,"height":379,"thumb":388,"thumbWidth":20,"thumbHeight":381,"modified":34,"modifiedZh":35},"-figure-files-dufomap2024-fig-5","Fig. 5","自行蒐集的稀疏 VLP-16 半室內資料：人工標註真值與 ERASOR、OctoMap、Dynablox、DUFOMap 的動態點判定及清理後地圖","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2403.01449v2\u002Fsemindoor.png","\u002Ffigure-files\u002Fdufomap2024\u002Ffig-5.webp","\u002Ffigure-files\u002Fdufomap2024\u002Ffig-5.thumb.webp",{"key":390,"refId":370,"refLabel":371,"refTitle":372,"year":373,"cluster":302,"fig":391,"whatZh":392,"license":375,"licenseShort":375,"licenseUrl":376,"sourceUrl":393,"src":394,"width":30,"height":395,"thumb":396,"thumbWidth":20,"thumbHeight":397,"modified":34,"modifiedZh":35},"-figure-files-dufomap2024-fig-6-b","Fig. 6(b)","DOALS 火車站高動態場景經 DUFOMap 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清理後的地圖，依高度著色並移除部分牆面以利檢視","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2403.01449v2\u002Ftwo_floor_dufo_color.png","\u002Ffigure-files\u002Fdufomap2024\u002Ffig-7-b.webp",1167,981,"\u002Ffigure-files\u002Fdufomap2024\u002Ffig-7-b.thumb.webp",403,{"key":409,"refId":410,"refLabel":411,"refTitle":412,"year":147,"cluster":413,"fig":311,"whatZh":414,"license":415,"licenseShort":13,"licenseUrl":14,"sourceUrl":416,"src":417,"width":30,"height":418,"thumb":419,"thumbWidth":20,"thumbHeight":420,"modified":34,"modifiedZh":35},"-figure-files-ebadi2021dareslam-fig-3","ebadi2021dareslam","Ebadi et al., 2021","DARE-SLAM: Degeneracy-Aware and Resilient Loop Closing in Perceptually-Degraded Environments","C13","LiDAR 前端流程（點雲過濾、scan-to-scan 與 scan-to-submap 配準）與局部位姿圖","CC BY 4.0 (arXiv v1 abs page); note: the arXiv PDF title-page footnote also prints '©2020 All rights reserved'","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2102.05117v1\u002Foverview.png","\u002Ffigure-files\u002Febadi2021dareslam\u002Ffig-3.webp",444,"\u002Ffigure-files\u002Febadi2021dareslam\u002Ffig-3.thumb.webp",152,{"key":422,"refId":410,"refLabel":411,"refTitle":412,"year":147,"cluster":413,"fig":135,"whatZh":423,"license":415,"licenseShort":13,"licenseUrl":14,"sourceUrl":424,"src":425,"width":30,"height":426,"thumb":427,"thumbWidth":20,"thumbHeight":428,"modified":34,"modifiedZh":35},"-figure-files-ebadi2021dareslam-fig-10","顯著性迴圈閉合流程：佔據格地圖預匹配、幾何驗證與離群值剔除","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2102.05117v1\u002Floop_closure_diagram.png","\u002Ffigure-files\u002Febadi2021dareslam\u002Ffig-10.webp",950,"\u002Ffigure-files\u002Febadi2021dareslam\u002Ffig-10.thumb.webp",326,{"key":430,"refId":410,"refLabel":411,"refTitle":412,"year":147,"cluster":413,"fig":431,"whatZh":432,"license":415,"licenseShort":13,"licenseUrl":14,"sourceUrl":433,"src":434,"width":30,"height":435,"thumb":436,"thumbWidth":20,"thumbHeight":437,"modified":34,"modifiedZh":35},"-figure-files-ebadi2021dareslam-fig-21","Fig. 21","Eagle 礦坑雙機器人地圖：無迴圈閉合、BGLC 與本法在位姿圖最佳化前後的對照","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2102.05117v1\u002Flc_eagle_mine.png","\u002Ffigure-files\u002Febadi2021dareslam\u002Ffig-21.webp",668,"\u002Ffigure-files\u002Febadi2021dareslam\u002Ffig-21.thumb.webp",229,{"key":439,"refId":410,"refLabel":411,"refTitle":412,"year":147,"cluster":413,"fig":440,"whatZh":441,"license":415,"licenseShort":13,"licenseUrl":14,"sourceUrl":442,"src":443,"width":30,"height":444,"thumb":445,"thumbWidth":20,"thumbHeight":446,"modified":34,"modifiedZh":35},"-figure-files-ebadi2021dareslam-fig-23","Fig. 23","辦公室、Beckley 煤礦與 Safety Research 礦坑以 LeGO-LOAM、BGLC 與本法建立的地圖比較","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2102.05117v1\u002Fmap_comparisons1.png","\u002Ffigure-files\u002Febadi2021dareslam\u002Ffig-23.webp",867,"\u002Ffigure-files\u002Febadi2021dareslam\u002Ffig-23.thumb.webp",297,{"key":448,"refId":449,"refLabel":450,"refTitle":451,"year":373,"cluster":452,"fig":135,"whatZh":453,"license":454,"licenseShort":13,"licenseUrl":14,"sourceUrl":455,"src":456,"width":30,"height":457,"thumb":458,"thumbWidth":20,"thumbHeight":79,"modified":34,"modifiedZh":35},"-figure-files-ebadi2024subt-fig-10","ebadi2024subt","Ebadi et al., 2024","Present and Future of SLAM in Extreme Environments: The DARPA SubT Challenge","C01","CTU-CRAS-Norlab 地面機器人的消融實驗：比較有無去畸變及有無以 IMU 約束橫滾與俯仰時，定位誤差隨行進距離的變化（10 次實驗的中位數與四分位數）","CC BY 4.0 (arXiv v1 2208.01787v1; the T-RO version of record read here is © IEEE; figure and caption match 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機器人在廢棄地鐵、熔岩管、礦坑、電廠與決賽賽道等環境建立的地圖，以相同比例尺並列","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2208.01787v1\u002Ffigures\u002FCoSTAR_CompositeMaps.png","\u002Ffigure-files\u002Febadi2024subt\u002Ffig-13.webp",1143,"\u002Ffigure-files\u002Febadi2024subt\u002Ffig-13.thumb.webp",392,{"key":469,"refId":449,"refLabel":450,"refTitle":451,"year":373,"cluster":452,"fig":470,"whatZh":471,"license":454,"licenseShort":13,"licenseUrl":14,"sourceUrl":472,"src":473,"width":30,"height":474,"thumb":475,"thumbWidth":20,"thumbHeight":476,"modified":34,"modifiedZh":35},"-figure-files-ebadi2024subt-fig-14","Fig. 14","MARBLE 的 Spot 機器人以 LIO-SAM 從大學工學院大樓走到附近停車場底層再返回的點雲地圖，軌跡以粉紅色標示，點雲依高程著色","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2208.01787v1\u002Ffigures\u002Flarge_trajectory_no_grid.png","\u002Ffigure-files\u002Febadi2024subt\u002Ffig-14.webp",610,"\u002Ffigure-files\u002Febadi2024subt\u002Ffig-14.thumb.webp",209,{"key":478,"refId":449,"refLabel":450,"refTitle":451,"year":373,"cluster":452,"fig":479,"whatZh":480,"license":454,"licenseShort":13,"licenseUrl":14,"sourceUrl":481,"src":482,"width":483,"height":484,"thumb":485,"thumbWidth":20,"thumbHeight":486,"modified":22,"modifiedZh":23},"-figure-files-ebadi2024subt-fig-16","Fig. 16","CSIRO Wildcat 多機器人點雲地圖：都市賽 Beta 賽道、Chillagoe 洞穴測試與決賽，依機器人著色，灰色為 DARPA 參考點雲或合併地圖","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2208.01787v1\u002Ffigures\u002FCSIROresults.png","\u002Ffigure-files\u002Febadi2024subt\u002Ffig-16.webp",1232,1342,"\u002Ffigure-files\u002Febadi2024subt\u002Ffig-16.thumb.webp",523,{"key":488,"refId":489,"refLabel":490,"refTitle":491,"year":332,"cluster":492,"fig":384,"whatZh":493,"license":13,"licenseShort":13,"licenseUrl":14,"sourceUrl":494,"src":495,"width":30,"height":496,"thumb":497,"thumbWidth":20,"thumbHeight":498,"modified":34,"modifiedZh":35},"-figure-files-elhashash2022mobilemappingsystems-fig-5","elhashash2022mobilemappingsystems","Elhashash et al., 2022","A Review of Mobile Mapping Systems: From Sensors to Applications","C11a","MMS 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資料與靜態測量資料的俯視漂移比較","https:\u002F\u002Fmedia.springernature.com\u002Flw1200\u002Fspringer-static\u002Fimage\u002Fart%3A10.1007%2Fs42461-022-00664-3\u002FMediaObjects\u002F42461_2022_664_Fig10_HTML.png","\u002Ffigure-files\u002Ffahle2022geotechmls\u002Ffig-10.webp",243,"\u002Ffigure-files\u002Ffahle2022geotechmls\u002Ffig-10.thumb.webp",97,{"key":519,"refId":501,"refLabel":502,"refTitle":503,"year":332,"cluster":61,"fig":461,"whatZh":520,"license":13,"licenseShort":13,"licenseUrl":64,"sourceUrl":521,"src":522,"width":507,"height":523,"thumb":524,"thumbWidth":20,"thumbHeight":54,"modified":22,"modifiedZh":23},"-figure-files-fahle2022geotechmls-fig-13","結構化與非結構化場景中逐漸變小岩塊的變化偵測（門檻過濾的 C2C 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標示顯著變化（含收斂變形）","https:\u002F\u002Fmedia.springernature.com\u002Flw1200\u002Fspringer-static\u002Fimage\u002Fart%3A10.1007%2Fs42461-022-00664-3\u002FMediaObjects\u002F42461_2022_664_Fig15_HTML.png","\u002Ffigure-files\u002Ffahle2022geotechmls\u002Ffig-15.webp",752,"\u002Ffigure-files\u002Ffahle2022geotechmls\u002Ffig-15.thumb.webp",301,{"key":535,"refId":536,"refLabel":537,"refTitle":538,"year":332,"cluster":413,"fig":539,"whatZh":540,"license":541,"licenseShort":542,"licenseUrl":543,"sourceUrl":544,"src":545,"width":546,"height":139,"thumb":547,"thumbWidth":20,"thumbHeight":548,"modified":22,"modifiedZh":23},"-figure-files-faizullin2022lidarsync-fig-1-a","faizullin2022lidarsync","Faizullin et al., 2022","Open-Source LiDAR Time Synchronization System by Mimicking GNSS-clock","Fig. 1(a)","系統方塊圖：MCU 模擬 GNSS 時鐘送 PPS 與 NMEA 至 LiDAR，並以中斷為 IMU 打時間戳","CC BY-SA 4.0 (arXiv v3); version of record © 2022 IEEE","CC BY-SA 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的四輪驅動移動平台外觀","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2107.02625v3\u002Fimages\u002Fcommon_view_.jpg","\u002Ffigure-files\u002Ffaizullin2022lidarsync\u002Ffig-1-b.webp",1133,"\u002Ffigure-files\u002Ffaizullin2022lidarsync\u002Ffig-1-b.thumb.webp",388,{"key":559,"refId":536,"refLabel":537,"refTitle":538,"year":332,"cluster":413,"fig":320,"whatZh":560,"license":541,"licenseShort":542,"licenseUrl":543,"sourceUrl":561,"src":562,"width":563,"height":564,"thumb":565,"thumbWidth":20,"thumbHeight":566,"modified":22,"modifiedZh":23},"-figure-files-faizullin2022lidarsync-fig-4","計時器計數值與 PPS 訊號及 NMEA 訊息的時序關係圖","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2107.02625v3\u002Fimages\u002Ftc_pps_ngm2.png","\u002Ffigure-files\u002Ffaizullin2022lidarsync\u002Ffig-4.webp",722,272,"\u002Ffigure-files\u002Ffaizullin2022lidarsync\u002Ffig-4.thumb.webp",181,{"key":568,"refId":536,"refLabel":537,"refTitle":538,"year":332,"cluster":413,"fig":384,"whatZh":569,"license":541,"licenseShort":542,"licenseUrl":543,"sourceUrl":570,"src":571,"width":572,"height":573,"thumb":574,"thumbWidth":20,"thumbHeight":575,"modified":22,"modifiedZh":23},"-figure-files-faizullin2022lidarsync-fig-5","純 ROS 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NX、無線路由器位置及主要尺寸","https:\u002F\u002Fmedia.springernature.com\u002Flw1200\u002Fspringer-static\u002Fimage\u002Fart%3A10.1007%2Fs44242-025-00092-8\u002FMediaObjects\u002F44242_2025_92_Fig3_HTML.png","\u002Ffigure-files\u002Ffeng2025_construction_lidar_eval\u002Ffig-3.webp",359,"\u002Ffigure-files\u002Ffeng2025_construction_lidar_eval\u002Ffig-3.thumb.webp",144,{"key":588,"refId":578,"refLabel":579,"refTitle":580,"year":105,"cluster":262,"fig":163,"whatZh":589,"license":13,"licenseShort":13,"licenseUrl":64,"sourceUrl":590,"src":591,"width":507,"height":592,"thumb":593,"thumbWidth":20,"thumbHeight":594,"modified":22,"modifiedZh":23},"-figure-files-feng2025_construction_lidar_eval-fig-6","依施工圖轉 BIM 建立的大型公共建築標準層 Gazebo 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8","西安施工中醫院門診大樓測試現場實景，含機電安裝、裝修與動態障礙物","https:\u002F\u002Fmedia.springernature.com\u002Flw1200\u002Fspringer-static\u002Fimage\u002Fart%3A10.1007%2Fs44242-025-00092-8\u002FMediaObjects\u002F44242_2025_92_Fig8_HTML.png","\u002Ffigure-files\u002Ffeng2025_construction_lidar_eval\u002Ffig-8.webp",571,"\u002Ffigure-files\u002Ffeng2025_construction_lidar_eval\u002Ffig-8.thumb.webp",228,{"key":605,"refId":578,"refLabel":579,"refTitle":580,"year":105,"cluster":262,"fig":479,"whatZh":606,"license":13,"licenseShort":13,"licenseUrl":64,"sourceUrl":607,"src":608,"width":507,"height":609,"thumb":610,"thumbWidth":20,"thumbHeight":611,"modified":22,"modifiedZh":23},"-figure-files-feng2025_construction_lidar_eval-fig-16","十種 SLAM 演算法在實際工地建出的點雲地圖，每種方法各有前視、側視、俯視與等角視圖","https:\u002F\u002Fmedia.springernature.com\u002Flw1200\u002Fspringer-static\u002Fimage\u002Fart%3A10.1007%2Fs44242-025-00092-8\u002FMediaObjects\u002F44242_2025_92_Fig16_HTML.png","\u002Ffigure-files\u002Ffeng2025_construction_lidar_eval\u002Ffig-16.webp",1289,"\u002Ffigure-files\u002Ffeng2025_construction_lidar_eval\u002Ffig-16.thumb.webp",516,{"key":613,"refId":614,"refLabel":615,"refTitle":616,"year":9,"cluster":61,"fig":62,"whatZh":617,"license":618,"licenseShort":618,"licenseUrl":619,"sourceUrl":620,"src":621,"width":30,"height":622,"thumb":623,"thumbWidth":20,"thumbHeight":624,"modified":34,"modifiedZh":35},"-figure-files-feng2026integratedslam-fig-1","feng2026integratedslam","Feng et al., 2026","Integration and evaluation of a 3D LiDAR SLAM system for construction robots in large-scale public building sites","整合式光達 SLAM 系統架構與資料流（地面分割、FEC 分群、兩步配準、Scan Context++ 迴圈偵測）","CC BY-NC 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方法分類，底線標示納入基準測試的方法","https:\u002F\u002Fpub.mdpi-res.com\u002Fsensors\u002Fsensors-25-00712\u002Farticle_deploy\u002Fhtml\u002Fimages\u002Fsensors-25-00712-g001.png","\u002Ffigure-files\u002Fghadimzadeh2025slamnde\u002Ffig-1.webp",1215,"\u002Ffigure-files\u002Fghadimzadeh2025slamnde\u002Ffig-1.thumb.webp",417,{"key":660,"refId":650,"refLabel":651,"refTitle":652,"year":105,"cluster":492,"fig":661,"whatZh":662,"license":13,"licenseShort":13,"licenseUrl":14,"sourceUrl":663,"src":664,"width":30,"height":665,"thumb":666,"thumbWidth":20,"thumbHeight":667,"modified":34,"modifiedZh":35},"-figure-files-ghadimzadeh2025slamnde-fig-17","Fig. 17","Luleå 隧道測試場地以 3D LiDAR 掃描產生的地圖俯視圖","https:\u002F\u002Fpub.mdpi-res.com\u002Fsensors\u002Fsensors-25-00712\u002Farticle_deploy\u002Fhtml\u002Fimages\u002Fsensors-25-00712-g017.png","\u002Ffigure-files\u002Fghadimzadeh2025slamnde\u002Ffig-17.webp",1208,"\u002Ffigure-files\u002Fghadimzadeh2025slamnde\u002Ffig-17.thumb.webp",414,{"key":669,"refId":650,"refLabel":651,"refTitle":652,"year":105,"cluster":492,"fig":670,"whatZh":671,"license":13,"licenseShort":13,"licenseUrl":14,"sourceUrl":672,"src":673,"width":30,"height":105,"thumb":674,"thumbWidth":20,"thumbHeight":675,"modified":34,"modifiedZh":35},"-figure-files-ghadimzadeh2025slamnde-fig-24","Fig. 24","作者自製的手持資料蒐集裝置（RGB-D 相機、VLP-16 LiDAR 與 IMU，規格見表 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在低光環境中的特徵追蹤","https:\u002F\u002Fpub.mdpi-res.com\u002Fsensors\u002Fsensors-25-00712\u002Farticle_deploy\u002Fhtml\u002Fimages\u002Fsensors-25-00712-g027.png","\u002Ffigure-files\u002Fghadimzadeh2025slamnde\u002Ffig-27.webp",697,"\u002Ffigure-files\u002Fghadimzadeh2025slamnde\u002Ffig-27.thumb.webp",239,{"key":686,"refId":687,"refLabel":688,"refTitle":689,"year":373,"cluster":690,"fig":62,"whatZh":691,"license":692,"licenseShort":13,"licenseUrl":14,"sourceUrl":693,"src":694,"width":30,"height":695,"thumb":696,"thumbWidth":20,"thumbHeight":697,"modified":34,"modifiedZh":35},"-figure-files-gsicpslam2024-fig-1","gsicpslam2024","Ha et al., 2024","RGBD GS-ICP SLAM","C09","各稠密表示 SLAM 的影像品質（PSNR）與整體系統 FPS 比較圖","CC BY 4.0 (arXiv v2 version of the figure; the ECCV version is published by Springer under exclusive 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MLP，地圖可離線渲染為深度影像或網格","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2309.04937v3\u002Ffigures\u002Fsystem_overview_v10.png","\u002Ffigure-files\u002Floner2023\u002Ffig-2.webp","\u002Ffigure-files\u002Floner2023\u002Ffig-2.thumb.webp",{"key":870,"refId":854,"refLabel":855,"refTitle":856,"year":60,"cluster":690,"fig":384,"whatZh":871,"license":13,"licenseShort":13,"licenseUrl":14,"sourceUrl":872,"src":873,"width":874,"height":875,"thumb":876,"thumbWidth":20,"thumbHeight":877,"modified":22,"modifiedZh":23},"-figure-files-loner2023-fig-5","四個序列上 NICE-SLAM、SHINE、LONER 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體積渲染","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2211.11704v2\u002FFigures\u002FFig2\u002FFig2.jpg","\u002Ffigure-files\u002Feslam2023\u002Ffig-2.webp",751,"\u002Ffigure-files\u002Feslam2023\u002Ffig-2.thumb.webp",257,{"key":898,"refId":888,"refLabel":889,"refTitle":890,"year":60,"cluster":690,"fig":311,"whatZh":899,"license":13,"licenseShort":13,"licenseUrl":14,"sourceUrl":900,"src":901,"width":30,"height":902,"thumb":903,"thumbWidth":20,"thumbHeight":123,"modified":34,"modifiedZh":35},"-figure-files-eslam2023-fig-3","Replica 資料集幾何重建與 iMAP*、NICE-SLAM 的定性比較","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2211.11704v2\u002FFigures\u002FFig3\u002FFig3.jpg","\u002Ffigure-files\u002Feslam2023\u002Ffig-3.webp",679,"\u002Ffigure-files\u002Feslam2023\u002Ffig-3.thumb.webp",{"key":905,"refId":888,"refLabel":889,"refTitle":890,"year":60,"cluster":690,"fig":320,"whatZh":906,"license":13,"licenseShort":13,"licenseUrl":14,"sourceUrl":907,"src":908,"width":30,"height":909,"thumb":910,"thumbWidth":20,"thumbHeight":911,"modified":34,"modifiedZh":35},"-figure-files-eslam2023-fig-4","ScanNet 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行走軌跡以紅至藍表示起點到終點","https:\u002F\u002Fars.els-cdn.com\u002Fcontent\u002Fimage\u002F1-s2.0-S0926580522005702-gr2_lrg.jpg","\u002Ffigure-files\u002Fkeitaanniemi2023drift\u002Ffig-2.webp",514,"\u002Ffigure-files\u002Fkeitaanniemi2023drift\u002Ffig-2.thumb.webp",176,{"key":956,"refId":946,"refLabel":947,"refTitle":948,"year":60,"cluster":61,"fig":320,"whatZh":957,"license":13,"licenseShort":13,"licenseUrl":64,"sourceUrl":958,"src":959,"width":30,"height":960,"thumb":961,"thumbWidth":20,"thumbHeight":418,"modified":34,"modifiedZh":35},"-figure-files-keitaanniemi2023drift-fig-4","分段後處理流程與相鄰分段不連續性分析流程","https:\u002F\u002Fars.els-cdn.com\u002Fcontent\u002Fimage\u002F1-s2.0-S0926580522005702-gr4_lrg.jpg","\u002Ffigure-files\u002Fkeitaanniemi2023drift\u002Ffig-4.webp",1294,"\u002Ffigure-files\u002Fkeitaanniemi2023drift\u002Ffig-4.thumb.webp",{"key":963,"refId":946,"refLabel":947,"refTitle":948,"year":60,"cluster":61,"fig":384,"whatZh":964,"license":13,"licenseShort":13,"licenseUrl":64,"sourceUrl":965,"src":966,"width":30,"height":967,"thumb":968,"thumbWidth":20,"thumbHeight":969,"modified":34,"modifiedZh":35},"-figure-files-keitaanniemi2023drift-fig-5","二樓走廊內迴圈處的 SLAM 條件不良點分布與現場照片","https:\u002F\u002Fars.els-cdn.com\u002Fcontent\u002Fimage\u002F1-s2.0-S0926580522005702-gr5_lrg.jpg","\u002Ffigure-files\u002Fkeitaanniemi2023drift\u002Ffig-5.webp",699,"\u002Ffigure-files\u002Fkeitaanniemi2023drift\u002Ffig-5.thumb.webp",240,{"key":971,"refId":946,"refLabel":947,"refTitle":948,"year":60,"cluster":61,"fig":597,"whatZh":972,"license":13,"licenseShort":13,"licenseUrl":64,"sourceUrl":973,"src":974,"width":30,"height":975,"thumb":976,"thumbWidth":20,"thumbHeight":977,"modified":34,"modifiedZh":35},"-figure-files-keitaanniemi2023drift-fig-8","樓層平面上的大分段與小分段位置及樓梯編號，用於分段後處理","https:\u002F\u002Fars.els-cdn.com\u002Fcontent\u002Fimage\u002F1-s2.0-S0926580522005702-gr8_lrg.jpg","\u002Ffigure-files\u002Fkeitaanniemi2023drift\u002Ffig-8.webp",1037,"\u002Ffigure-files\u002Fkeitaanniemi2023drift\u002Ffig-8.thumb.webp",356,{"key":979,"refId":980,"refLabel":981,"refTitle":982,"year":60,"cluster":690,"fig":62,"whatZh":983,"license":108,"licenseShort":13,"licenseUrl":64,"sourceUrl":984,"src":985,"width":986,"height":793,"thumb":987,"thumbWidth":20,"thumbHeight":988,"modified":22,"modifiedZh":23},"-figure-files-kerbl2023_3dgs-fig-1","kerbl2023_3dgs","Kerbl et al., 2023","3D Gaussian Splatting for Real-Time Radiance Field Rendering","3DGS 即時渲染品質與訓練時間，與 Mip-NeRF360、InstantNGP、Plenoxels 比較","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2308.04079v1\u002Fteaser_02.png","\u002Ffigure-files\u002Fkerbl2023_3dgs\u002Ffig-1.webp",842,"\u002Ffigure-files\u002Fkerbl2023_3dgs\u002Ffig-1.thumb.webp",110,{"key":990,"refId":980,"refLabel":981,"refTitle":982,"year":60,"cluster":690,"fig":11,"whatZh":991,"license":108,"licenseShort":13,"licenseUrl":64,"sourceUrl":992,"src":993,"width":994,"height":877,"thumb":995,"thumbWidth":20,"thumbHeight":996,"modified":22,"modifiedZh":23},"-figure-files-kerbl2023_3dgs-fig-2","方法總覽：由 SfM 稀疏點建立三維高斯，最佳化並自適應控制密度，再以分塊光柵化渲染","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2308.04079v1\u002Foverview_01.png","\u002Ffigure-files\u002Fkerbl2023_3dgs\u002Ffig-2.webp",975,"\u002Ffigure-files\u002Fkerbl2023_3dgs\u002Ffig-2.thumb.webp",89,{"key":998,"refId":980,"refLabel":981,"refTitle":982,"year":60,"cluster":690,"fig":311,"whatZh":999,"license":108,"licenseShort":13,"licenseUrl":64,"sourceUrl":1000,"src":1001,"width":428,"height":1002,"thumb":1003,"thumbWidth":428,"thumbHeight":1002,"modified":22,"modifiedZh":23},"-figure-files-kerbl2023_3dgs-fig-3","將最佳化後的三維高斯縮小 60% 以顯示其各向異性形狀","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2308.04079v1\u002Ffigures\u002Fanisotropic\u002Freal2.png","\u002Ffigure-files\u002Fkerbl2023_3dgs\u002Ffig-3.webp",131,"\u002Ffigure-files\u002Fkerbl2023_3dgs\u002Ffig-3.thumb.webp",{"key":1005,"refId":980,"refLabel":981,"refTitle":982,"year":60,"cluster":690,"fig":320,"whatZh":1006,"license":108,"licenseShort":13,"licenseUrl":64,"sourceUrl":1007,"src":1008,"width":1009,"height":697,"thumb":1010,"thumbWidth":1009,"thumbHeight":697,"modified":22,"modifiedZh":23},"-figure-files-kerbl2023_3dgs-fig-4","自適應密度控制：重建不足時複製高斯，過度重建時分裂高斯","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2308.04079v1\u002Fdensity_control_01.png","\u002Ffigure-files\u002Fkerbl2023_3dgs\u002Ffig-4.webp",467,"\u002Ffigure-files\u002Fkerbl2023_3dgs\u002Ffig-4.thumb.webp",{"key":1012,"refId":1013,"refLabel":1014,"refTitle":1015,"year":332,"cluster":302,"fig":62,"whatZh":1016,"license":1017,"licenseShort":13,"licenseUrl":64,"sourceUrl":1018,"src":1019,"width":779,"height":799,"thumb":1020,"thumbWidth":20,"thumbHeight":132,"modified":22,"modifiedZh":23},"-figure-files-ltmapper2022-fig-1","ltmapper2022","Kim & Kim, 2022","LT-mapper: A Modular Framework for LiDAR-based Lifelong Mapping","MulRan KAIST 01（2019 年 6 月）與 KAIST 04（2021 年 2 月）約 1.5 年間的永久結構變化，出現施工圍牆，停車格與樹木消失，藍點為偵測到的變化點","CC BY 4.0 (arXiv 2107.07712v1 licence); ICRA 2022 version of record © IEEE","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2107.07712v1\u002Fcover_small.png","\u002Ffigure-files\u002Fltmapper2022\u002Ffig-1.webp","\u002Ffigure-files\u002Fltmapper2022\u002Ffig-1.thumb.webp",{"key":1022,"refId":1013,"refLabel":1014,"refTitle":1015,"year":332,"cluster":302,"fig":384,"whatZh":1023,"license":1017,"licenseShort":13,"licenseUrl":64,"sourceUrl":1024,"src":1025,"width":1026,"height":1027,"thumb":1028,"thumbWidth":20,"thumbHeight":230,"modified":22,"modifiedZh":23},"-figure-files-ltmapper2022-fig-5","LT-removert 流程：接收對齊的中央與查詢地圖，移除高動態點，偵測新增與消失的低動態變化，並跨時段刪除殘留動態點","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2107.07712v1\u002Fltremovert_visual_pipeline_small.png","\u002Ffigure-files\u002Fltmapper2022\u002Ffig-5.webp",886,346,"\u002Ffigure-files\u002Fltmapper2022\u002Ffig-5.thumb.webp",{"key":1030,"refId":1013,"refLabel":1014,"refTitle":1015,"year":332,"cluster":302,"fig":126,"whatZh":1031,"license":1017,"licenseShort":13,"licenseUrl":64,"sourceUrl":1032,"src":1033,"width":30,"height":1034,"thumb":1035,"thumbWidth":20,"thumbHeight":189,"modified":34,"modifiedZh":35},"-figure-files-ltmapper2022-fig-9","LT-mapper 的兩種地圖管理：保持最新狀態的即時地圖，與逐次移除非體積最大化點、保留持久結構的 meta map","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2107.07712v1\u002Fmetamap.png","\u002Ffigure-files\u002Fltmapper2022\u002Ffig-9.webp",906,"\u002Ffigure-files\u002Fltmapper2022\u002Ffig-9.thumb.webp",{"key":1037,"refId":1013,"refLabel":1014,"refTitle":1015,"year":332,"cluster":302,"fig":135,"whatZh":1038,"license":1017,"licenseShort":13,"licenseUrl":64,"sourceUrl":1039,"src":1040,"width":30,"height":844,"thumb":1041,"thumbWidth":20,"thumbHeight":1042,"modified":34,"modifiedZh":35},"-figure-files-ltmapper2022-fig-10","以差異地圖串接進行變化合成：由 KAIST 04 回溯還原 KAIST 01，未對應的牆面消失、原有牆面復原","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2107.07712v1\u002Fcompose.png","\u002Ffigure-files\u002Fltmapper2022\u002Ffig-10.webp","\u002Ffigure-files\u002Fltmapper2022\u002Ffig-10.thumb.webp",92,{"key":1044,"refId":1045,"refLabel":1046,"refTitle":1047,"year":332,"cluster":302,"fig":539,"whatZh":1048,"license":375,"licenseShort":375,"licenseUrl":376,"sourceUrl":1049,"src":1050,"width":30,"height":1051,"thumb":1052,"thumbWidth":20,"thumbHeight":1053,"modified":34,"modifiedZh":35},"-figure-files-scancontextpp2022-fig-1-a","scancontextpp2022","Kim et al., 2022b","Scan Context++: Structural Place Recognition Robust to Rotation and Lateral Variations in Urban Environments","反向重訪造成的旋轉位移：世界座標與感測器座標下的查詢與資料庫掃描比較。","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2109.13494v1\u002Finvexample_rot_compressed.png","\u002Ffigure-files\u002Fscancontextpp2022\u002Ffig-1-a.webp",1736,"\u002Ffigure-files\u002Fscancontextpp2022\u002Ffig-1-a.thumb.webp",595,{"key":1055,"refId":1045,"refLabel":1046,"refTitle":1047,"year":332,"cluster":302,"fig":1056,"whatZh":1057,"license":375,"licenseShort":375,"licenseUrl":376,"sourceUrl":1058,"src":1059,"width":306,"height":1060,"thumb":1061,"thumbWidth":20,"thumbHeight":1062,"modified":22,"modifiedZh":23},"-figure-files-scancontextpp2022-fig-3-a","Fig. 3(a)","樣本點雲上 Polar Context（黃色）與 Cart Context（灰色）的分格方式，紅色箭頭為對齊軸，綠色箭頭為檢索軸。","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2109.13494v1\u002Fscd.png","\u002Ffigure-files\u002Fscancontextpp2022\u002Ffig-3-a.webp",1155,"\u002Ffigure-files\u002Fscancontextpp2022\u002Ffig-3-a.thumb.webp",483,{"key":1064,"refId":1045,"refLabel":1046,"refTitle":1047,"year":332,"cluster":302,"fig":163,"whatZh":1065,"license":375,"licenseShort":375,"licenseUrl":376,"sourceUrl":1066,"src":1067,"width":30,"height":1068,"thumb":1069,"thumbWidth":20,"thumbHeight":988,"modified":34,"modifiedZh":35},"-figure-files-scancontextpp2022-fig-6","MulRan、Oxford Radar RobotCar 與 NAVER LABS 各序列軌跡疊合於航照圖。","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2109.13494v1\u002Fairmap.png","\u002Ffigure-files\u002Fscancontextpp2022\u002Ffig-6.webp",321,"\u002Ffigure-files\u002Fscancontextpp2022\u002Ffig-6.thumb.webp",{"key":1071,"refId":1045,"refLabel":1046,"refTitle":1047,"year":332,"cluster":302,"fig":1072,"whatZh":1073,"license":375,"licenseShort":375,"licenseUrl":376,"sourceUrl":1074,"src":1075,"width":30,"height":1076,"thumb":1077,"thumbWidth":20,"thumbHeight":1078,"modified":34,"modifiedZh":35},"-figure-files-scancontextpp2022-fig-22-b","Fig. 22(b)","失效案例：車輛沿走廊狀場所行駛造成的感知混淆。","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2109.13494v1\u002Ffail_case1.png","\u002Ffigure-files\u002Fscancontextpp2022\u002Ffig-22-b.webp",478,"\u002Ffigure-files\u002Fscancontextpp2022\u002Ffig-22-b.thumb.webp",164,{"key":1080,"refId":1081,"refLabel":1082,"refTitle":1083,"year":261,"cluster":262,"fig":62,"whatZh":1084,"license":13,"licenseShort":13,"licenseUrl":14,"sourceUrl":1085,"src":1086,"width":30,"height":1087,"thumb":1088,"thumbWidth":20,"thumbHeight":1089,"modified":34,"modifiedZh":35},"-figure-files-koide2019_hdlgraphslam-fig-1","koide2019_hdlgraphslam","Koide et al., 2019","A portable three-dimensional LIDAR-based system for long-term and wide-area people behavior measurement","觀察者背負裝有 3D LiDAR 的背包跟隨受測者的系統示意","https:\u002F\u002Fjournals.sagepub.com\u002Fcms\u002F10.1177\u002F1729881419841532\u002Fasset\u002Ff90434b5-ecb0-4070-ac07-b6abb65c4928\u002Fassets\u002Fimages\u002Flarge\u002F10.1177_1729881419841532-fig1.jpg","\u002Ffigure-files\u002Fkoide2019_hdlgraphslam\u002Ffig-1.webp",955,"\u002Ffigure-files\u002Fkoide2019_hdlgraphslam\u002Ffig-1.thumb.webp",327,{"key":1091,"refId":1081,"refLabel":1082,"refTitle":1083,"year":261,"cluster":262,"fig":311,"whatZh":1092,"license":13,"licenseShort":13,"licenseUrl":14,"sourceUrl":1093,"src":1094,"width":1095,"height":1096,"thumb":1097,"thumbWidth":20,"thumbHeight":1098,"modified":22,"modifiedZh":23},"-figure-files-koide2019_hdlgraphslam-fig-3","BLAM、LeGO-LOAM 與本法（有無地面平面約束）估計軌跡比較","https:\u002F\u002Fjournals.sagepub.com\u002Fcms\u002F10.1177\u002F1729881419841532\u002Fasset\u002F49e9306d-79f9-434f-9e05-798a1ab073ca\u002Fassets\u002Fimages\u002Flarge\u002F10.1177_1729881419841532-fig3.jpg","\u002Ffigure-files\u002Fkoide2019_hdlgraphslam\u002Ffig-3.webp",930,1703,"\u002Ffigure-files\u002Fkoide2019_hdlgraphslam\u002Ffig-3.thumb.webp",879,{"key":1100,"refId":1081,"refLabel":1082,"refTitle":1083,"year":261,"cluster":262,"fig":116,"whatZh":1101,"license":13,"licenseShort":13,"licenseUrl":14,"sourceUrl":1102,"src":1103,"width":30,"height":1104,"thumb":1105,"thumbWidth":20,"thumbHeight":1106,"modified":34,"modifiedZh":35},"-figure-files-koide2019_hdlgraphslam-fig-7","加入地面平面約束後建立的大型室內樓層點雲地圖，顏色表示高度","https:\u002F\u002Fjournals.sagepub.com\u002Fcms\u002F10.1177\u002F1729881419841532\u002Fasset\u002F06b58ffd-8d74-4587-8c74-ba9244843e4a\u002Fassets\u002Fimages\u002Flarge\u002F10.1177_1729881419841532-fig7.jpg","\u002Ffigure-files\u002Fkoide2019_hdlgraphslam\u002Ffig-7.webp",375,"\u002Ffigure-files\u002Fkoide2019_hdlgraphslam\u002Ffig-7.thumb.webp",129,{"key":1108,"refId":1081,"refLabel":1082,"refTitle":1083,"year":261,"cluster":262,"fig":597,"whatZh":1109,"license":13,"licenseShort":13,"licenseUrl":14,"sourceUrl":1110,"src":1111,"width":1095,"height":1112,"thumb":1113,"thumbWidth":20,"thumbHeight":1114,"modified":22,"modifiedZh":23},"-figure-files-koide2019_hdlgraphslam-fig-8","室外起伏地形的軌跡與加入 GPS 約束後的三維點雲地圖","https:\u002F\u002Fjournals.sagepub.com\u002Fcms\u002F10.1177\u002F1729881419841532\u002Fasset\u002F2113e478-9cdc-42b1-9964-4fc45d5b6992\u002Fassets\u002Fimages\u002Flarge\u002F10.1177_1729881419841532-fig8.jpg","\u002Ffigure-files\u002Fkoide2019_hdlgraphslam\u002Ffig-8.webp",1306,"\u002Ffigure-files\u002Fkoide2019_hdlgraphslam\u002Ffig-8.thumb.webp",674,{"key":1116,"refId":1117,"refLabel":1118,"refTitle":1119,"year":373,"cluster":744,"fig":62,"whatZh":1120,"license":375,"licenseShort":375,"licenseUrl":747,"sourceUrl":1121,"src":1122,"width":1123,"height":860,"thumb":1124,"thumbWidth":20,"thumbHeight":1125,"modified":22,"modifiedZh":23},"-figure-files-lee2024conpr-fig-1","lee2024conpr","Lee et al., 2024a","ConPR: Ongoing Construction Site Dataset for Place Recognition","施工中工地 5 月至 7 月的 RGB 影像與點雲地圖對照，紅色為新增結構、藍色為移除結構","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2407.03684v1\u002Fmap_figure_v4.png","\u002Ffigure-files\u002Flee2024conpr\u002Ffig-1.webp",1300,"\u002Ffigure-files\u002Flee2024conpr\u002Ffig-1.thumb.webp",332,{"key":1127,"refId":1117,"refLabel":1118,"refTitle":1119,"year":373,"cluster":744,"fig":11,"whatZh":1128,"license":375,"licenseShort":375,"licenseUrl":747,"sourceUrl":1129,"src":1130,"width":1131,"height":1132,"thumb":1133,"thumbWidth":20,"thumbHeight":763,"modified":22,"modifiedZh":23},"-figure-files-lee2024conpr-fig-2","搭載單眼相機與固態光達的手持資料收集裝置","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2407.03684v1\u002Fsensor_config.png","\u002Ffigure-files\u002Flee2024conpr\u002Ffig-2.webp",762,572,"\u002Ffigure-files\u002Flee2024conpr\u002Ffig-2.thumb.webp",{"key":1135,"refId":1136,"refLabel":1137,"refTitle":1138,"year":373,"cluster":452,"fig":11,"whatZh":1139,"license":1140,"licenseShort":13,"licenseUrl":14,"sourceUrl":1141,"src":1142,"width":1143,"height":1144,"thumb":1145,"thumbWidth":20,"thumbHeight":1146,"modified":22,"modifiedZh":23},"-figure-files-lee2024lidarodom_survey-fig-2","lee2024lidarodom_survey","Lee et al., 2024b","LiDAR odometry survey: recent advancements and remaining challenges","掃描樣式比較：(a) 機械式 Velodyne VLP-16 的重複式垂直通道樣式，(b) 採 Risley 稜鏡的 Livox Mid-70 非重複花瓣狀樣式","CC BY 4.0 (Springer open access, licence statement in the article)","https:\u002F\u002Fmedia.springernature.com\u002Flw1200\u002Fspringer-static\u002Fimage\u002Fart%3A10.1007%2Fs11370-024-00515-8\u002FMediaObjects\u002F11370_2024_515_Fig2_HTML.png","\u002Ffigure-files\u002Flee2024lidarodom_survey\u002Ffig-2.webp",969,503,"\u002Ffigure-files\u002Flee2024lidarodom_survey\u002Ffig-2.thumb.webp",249,{"key":1148,"refId":1136,"refLabel":1137,"refTitle":1138,"year":373,"cluster":452,"fig":311,"whatZh":1149,"license":1140,"licenseShort":13,"licenseUrl":14,"sourceUrl":1150,"src":1151,"width":507,"height":1152,"thumb":1153,"thumbWidth":20,"thumbHeight":611,"modified":22,"modifiedZh":23},"-figure-files-lee2024lidarodom_survey-fig-3","LiDAR 里程計通用流程：前處理（感測器同步、運動補償、降取樣、特徵擷取）、初始估計與狀態估計，並標示其他感測器以鬆耦合或緊耦合方式接入的位置","https:\u002F\u002Fmedia.springernature.com\u002Flw1200\u002Fspringer-static\u002Fimage\u002Fart%3A10.1007%2Fs11370-024-00515-8\u002FMediaObjects\u002F11370_2024_515_Fig3_HTML.png","\u002Ffigure-files\u002Flee2024lidarodom_survey\u002Ffig-3.webp",1291,"\u002Ffigure-files\u002Flee2024lidarodom_survey\u002Ffig-3.thumb.webp",{"key":1155,"refId":1136,"refLabel":1137,"refTitle":1138,"year":373,"cluster":452,"fig":320,"whatZh":1156,"license":1140,"licenseShort":13,"licenseUrl":14,"sourceUrl":1157,"src":1158,"width":507,"height":724,"thumb":1159,"thumbWidth":20,"thumbHeight":1160,"modified":22,"modifiedZh":23},"-figure-files-lee2024lidarodom_survey-fig-4","LiDAR 里程計的評估方法示意：軌跡誤差、起終點誤差、以全測站量測地面控制點的誤差，以及以熵衡量配準品質","https:\u002F\u002Fmedia.springernature.com\u002Flw1200\u002Fspringer-static\u002Fimage\u002Fart%3A10.1007%2Fs11370-024-00515-8\u002FMediaObjects\u002F11370_2024_515_Fig4_HTML.png","\u002Ffigure-files\u002Flee2024lidarodom_survey\u002Ffig-4.webp","\u002Ffigure-files\u002Flee2024lidarodom_survey\u002Ffig-4.thumb.webp",102,{"key":1162,"refId":1136,"refLabel":1137,"refTitle":1138,"year":373,"cluster":452,"fig":384,"whatZh":1163,"license":1140,"licenseShort":13,"licenseUrl":14,"sourceUrl":1164,"src":1165,"width":1166,"height":1167,"thumb":1168,"thumbWidth":20,"thumbHeight":1169,"modified":22,"modifiedZh":23},"-figure-files-lee2024lidarodom_survey-fig-5","基準測試估計軌跡：(a) HeLiPR 城市資料，(b) ConSLAM 工地手持資料，紅框放大純 LiDAR 方法偏離真值的位置","https:\u002F\u002Fmedia.springernature.com\u002Flw1200\u002Fspringer-static\u002Fimage\u002Fart%3A10.1007%2Fs11370-024-00515-8\u002FMediaObjects\u002F11370_2024_515_Fig5_HTML.png","\u002Ffigure-files\u002Flee2024lidarodom_survey\u002Ffig-5.webp",970,2013,"\u002Ffigure-files\u002Flee2024lidarodom_survey\u002Ffig-5.thumb.webp",996,{"key":1171,"refId":1172,"refLabel":1173,"refTitle":1174,"year":147,"cluster":262,"fig":62,"whatZh":1175,"license":13,"licenseShort":13,"licenseUrl":64,"sourceUrl":1176,"src":1177,"width":1178,"height":1179,"thumb":1180,"thumbWidth":20,"thumbHeight":446,"modified":22,"modifiedZh":23},"-figure-files-saloam2021-fig-1","saloam2021","Li et al., 2021a","SA-LOAM: Semantic-aided LiDAR SLAM with Loop Closure","SA-LOAM 在 KITTI 序列 01 建立的語意地圖，不同顏色代表不同語意類別，放大點為語意圖節點，並示範一次迴圈閉合","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2106.11516v2\u002Fdemo.png","\u002Ffigure-files\u002Fsaloam2021\u002Ffig-1.webp",966,597,"\u002Ffigure-files\u002Fsaloam2021\u002Ffig-1.thumb.webp",{"key":1182,"refId":1172,"refLabel":1173,"refTitle":1174,"year":147,"cluster":262,"fig":11,"whatZh":1183,"license":13,"licenseShort":13,"licenseUrl":64,"sourceUrl":1184,"src":1185,"width":30,"height":1186,"thumb":1187,"thumbWidth":20,"thumbHeight":1188,"modified":34,"modifiedZh":35},"-figure-files-saloam2021-fig-2","系統流程：原始點雲經語意分割後同時送入運動估計與迴圈偵測，偵測到迴圈時更新位姿圖並維護全域語意地圖","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2106.11516v2\u002Fpipeline.png","\u002Ffigure-files\u002Fsaloam2021\u002Ffig-2.webp",521,"\u002Ffigure-files\u002Fsaloam2021\u002Ffig-2.thumb.webp",179,{"key":1190,"refId":1172,"refLabel":1173,"refTitle":1174,"year":147,"cluster":262,"fig":320,"whatZh":1191,"license":13,"licenseShort":13,"licenseUrl":64,"sourceUrl":1192,"src":1193,"width":1194,"height":1195,"thumb":1196,"thumbWidth":20,"thumbHeight":1197,"modified":22,"modifiedZh":23},"-figure-files-saloam2021-fig-4","KITTI 測試序列 19 在迴圈閉合前後的軌跡與語意地圖","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2106.11516v2\u002Fmap_19.png","\u002Ffigure-files\u002Fsaloam2021\u002Ffig-4.webp",1212,1588,"\u002Ffigure-files\u002Fsaloam2021\u002Ffig-4.thumb.webp",629,{"key":1199,"refId":1172,"refLabel":1173,"refTitle":1174,"year":147,"cluster":262,"fig":163,"whatZh":1200,"license":13,"licenseShort":13,"licenseUrl":64,"sourceUrl":1201,"src":1202,"width":1203,"height":1204,"thumb":1205,"thumbWidth":20,"thumbHeight":1206,"modified":22,"modifiedZh":23},"-figure-files-saloam2021-fig-6","Ford 資料序列 02 各方法的軌跡，只有 Ours-LOOP 正確找到閉合迴圈","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2106.11516v2\u002Fford_02.jpg","\u002Ffigure-files\u002Fsaloam2021\u002Ffig-6.webp",1007,801,"\u002Ffigure-files\u002Fsaloam2021\u002Ffig-6.thumb.webp",382,{"key":1208,"refId":1209,"refLabel":1210,"refTitle":1211,"year":9,"cluster":492,"fig":62,"whatZh":1212,"license":13,"licenseShort":13,"licenseUrl":64,"sourceUrl":1213,"src":1214,"width":1215,"height":121,"thumb":1216,"thumbWidth":20,"thumbHeight":87,"modified":22,"modifiedZh":23},"-figure-files-li2026slamgenerationaec-fig-1","li2026slamgenerationaec","Li et al., 2026a","A structured review of SLAM generation in the AEC industry: Technical framework, site-specific challenges, and adaptive strategies","依 PRISMA 的文獻篩選流程與排除條件（1029 筆至 304 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生成流程：感測輸入、特徵擷取、狀態估計、後端最佳化與地圖建構","https:\u002F\u002Fars.els-cdn.com\u002Fcontent\u002Fimage\u002F1-s2.0-S1226798825005239-gr6.jpg","\u002Ffigure-files\u002Fli2026slamgenerationaec\u002Ffig-6.webp","\u002Ffigure-files\u002Fli2026slamgenerationaec\u002Ffig-6.thumb.webp",149,{"key":1240,"refId":1241,"refLabel":1242,"refTitle":1243,"year":332,"cluster":106,"fig":62,"whatZh":1244,"license":1245,"licenseShort":13,"licenseUrl":64,"sourceUrl":1246,"src":1247,"width":30,"height":1248,"thumb":1249,"thumbWidth":20,"thumbHeight":139,"modified":34,"modifiedZh":35},"-figure-files-r3live2022-fig-1","r3live2022","Lin & Zhang, 2022","R$^3$LIVE: A Robust, Real-time, RGB-colored, LiDAR-Inertial-Visual tightly-coupled state Estimation and mapping package","R3LIVE 即時重建的稠密 RGB 上色點雲與行走軌跡；arXiv 版另含離線網格與貼圖結果","CC BY 4.0 (arXiv v1 per abs page); ICRA version of record (c) 2022 IEEE","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2109.07982v1\u002Fpics\u002Fcover_v4.jpg","\u002Ffigure-files\u002Fr3live2022\u002Ffig-1.webp",1348,"\u002Ffigure-files\u002Fr3live2022\u002Ffig-1.thumb.webp",{"key":1251,"refId":1241,"refLabel":1242,"refTitle":1243,"year":332,"cluster":106,"fig":163,"whatZh":1252,"license":1245,"licenseShort":13,"licenseUrl":64,"sourceUrl":1253,"src":1254,"width":30,"height":1255,"thumb":1256,"thumbWidth":20,"thumbHeight":1257,"modified":34,"modifiedZh":35},"-figure-files-r3live2022-fig-6","手持資料收集裝置（光達、相機、內建 IMU、電池與機上電腦），以及 D-GPS RTK 與 ArUco 標記板（正式版為 Fig. 5）","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2109.07982v1\u002FR3LIVE_equidments_com.png","\u002Ffigure-files\u002Fr3live2022\u002Ffig-6.webp",517,"\u002Ffigure-files\u002Fr3live2022\u002Ffig-6.thumb.webp",177,{"key":1259,"refId":1241,"refLabel":1242,"refTitle":1243,"year":332,"cluster":106,"fig":461,"whatZh":1260,"license":1261,"licenseShort":13,"licenseUrl":64,"sourceUrl":1262,"src":1263,"width":30,"height":986,"thumb":1264,"thumbWidth":20,"thumbHeight":1265,"modified":34,"modifiedZh":35},"-figure-files-r3live2022-fig-13","RGB 上色點雲、網格線框、網格表面與貼圖後網格（僅見於 arXiv 版）","CC BY 4.0 (arXiv v1 per abs page)","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2109.07982v1\u002Fmesh_2x2_com.png","\u002Ffigure-files\u002Fr3live2022\u002Ffig-13.webp","\u002Ffigure-files\u002Fr3live2022\u002Ffig-13.thumb.webp",289,{"key":1267,"refId":1268,"refLabel":1269,"refTitle":1270,"year":373,"cluster":106,"fig":116,"whatZh":1271,"license":1272,"licenseShort":13,"licenseUrl":64,"sourceUrl":1273,"src":1274,"width":1275,"height":572,"thumb":1276,"thumbWidth":20,"thumbHeight":1277,"modified":22,"modifiedZh":23},"-figure-files-r3livepp2024-fig-7","r3livepp2024","Lin & Zhang, 2024","R3LIVE++: A Robust, Real-Time, Radiance Reconstruction Package With a Tightly-Coupled LiDAR-Inertial-Visual State Estimator","手持資料收集裝置、作為真值的 ArUco 標記板與開源機構模型（正式版為 Fig. 8）","CC BY 4.0 (arXiv v1 per abs page); TPAMI version of record (c) 2024 IEEE","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2209.03666v1\u002Fpics\u002Fhandheld_cad_v2.jpg","\u002Ffigure-files\u002Fr3livepp2024\u002Ffig-7.webp",1358,"\u002Ffigure-files\u002Fr3livepp2024\u002Ffig-7.thumb.webp",340,{"key":1279,"refId":1268,"refLabel":1269,"refTitle":1270,"year":373,"cluster":106,"fig":126,"whatZh":1280,"license":1272,"licenseShort":13,"licenseUrl":64,"sourceUrl":1281,"src":1282,"width":30,"height":18,"thumb":1283,"thumbWidth":20,"thumbHeight":1284,"modified":34,"modifiedZh":35},"-figure-files-r3livepp2024-fig-9","樓梯前光達退化測試：光達朝向地面與側牆，以及 R3LIVE++ 與純光達慣性方法的軌跡比較（正式版為 Fig. 10）","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2209.03666v1\u002Fpics\u002FLiDAR_degenerate_v3.jpg","\u002Ffigure-files\u002Fr3livepp2024\u002Ffig-9.webp","\u002Ffigure-files\u002Fr3livepp2024\u002Ffig-9.thumb.webp",189,{"key":1286,"refId":1268,"refLabel":1269,"refTitle":1270,"year":373,"cluster":106,"fig":479,"whatZh":1287,"license":1272,"licenseShort":13,"licenseUrl":64,"sourceUrl":1288,"src":1289,"width":30,"height":1290,"thumb":1291,"thumbWidth":20,"thumbHeight":1292,"modified":34,"modifiedZh":35},"-figure-files-r3livepp2024-fig-16","香港大學主建物的即時重建輻射地圖鳥瞰，並附室外與室內細部","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2209.03666v1\u002Fpics\u002Fmain_horizon_v2.jpg","\u002Ffigure-files\u002Fr3livepp2024\u002Ffig-16.webp",688,"\u002Ffigure-files\u002Fr3livepp2024\u002Ffig-16.thumb.webp",236,{"key":1294,"refId":1295,"refLabel":1296,"refTitle":1297,"year":147,"cluster":106,"fig":62,"whatZh":1298,"license":1299,"licenseShort":13,"licenseUrl":64,"sourceUrl":1300,"src":1301,"width":30,"height":1302,"thumb":1303,"thumbWidth":20,"thumbHeight":1304,"modified":34,"modifiedZh":35},"-figure-files-r2live2021-fig-1","r2live2021","Lin et al., 2021","R$^2$LIVE: A Robust, Real-Time, LiDAR-Inertial-Visual Tightly-Coupled State Estimator and Mapping","以 R2LIVE 即時重建的香港大學主建物大尺度室內外稠密點雲，綠線為軌跡，點依高度著色","CC BY 4.0 (arXiv v1 per abs page); RA-L version of record (c) 2021 IEEE","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2102.12400v1\u002Fcover_v3_com.png","\u002Ffigure-files\u002Fr2live2021\u002Ffig-1.webp",770,"\u002Ffigure-files\u002Fr2live2021\u002Ffig-1.thumb.webp",264,{"key":1306,"refId":1295,"refLabel":1296,"refTitle":1297,"year":147,"cluster":106,"fig":163,"whatZh":1307,"license":1299,"licenseShort":13,"licenseUrl":64,"sourceUrl":1308,"src":1309,"width":30,"height":1310,"thumb":1311,"thumbWidth":20,"thumbHeight":1312,"modified":34,"modifiedZh":35},"-figure-files-r2live2021-fig-6","手持資料收集裝置（Livox AVIA、全域快門相機、機上電腦與電池），以及評估用的 D-GPS RTK","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2102.12400v1\u002FEquip_com.png","\u002Ffigure-files\u002Fr2live2021\u002Ffig-6.webp",537,"\u002Ffigure-files\u002Fr2live2021\u002Ffig-6.thumb.webp",184,{"key":1314,"refId":1295,"refLabel":1296,"refTitle":1297,"year":147,"cluster":106,"fig":116,"whatZh":1315,"license":1299,"licenseShort":13,"licenseUrl":64,"sourceUrl":1316,"src":1317,"width":30,"height":1318,"thumb":1319,"thumbWidth":20,"thumbHeight":1320,"modified":34,"modifiedZh":35},"-figure-files-r2live2021-fig-7","劇烈運動與刻意遮擋相機或光達的穩健性測試情境","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2102.12400v1\u002Fexperi_1_block_v2_com.png","\u002Ffigure-files\u002Fr2live2021\u002Ffig-7.webp",358,"\u002Ffigure-files\u002Fr2live2021\u002Ffig-7.thumb.webp",123,{"key":1322,"refId":1323,"refLabel":1324,"refTitle":1325,"year":60,"cluster":10,"fig":62,"whatZh":1326,"license":1327,"licenseShort":13,"licenseUrl":14,"sourceUrl":1328,"src":1329,"width":30,"height":1330,"thumb":1331,"thumbWidth":20,"thumbHeight":586,"modified":34,"modifiedZh":35},"-figure-files-lin2023immesh-fig-1","lin2023immesh","Lin et al., 2023","ImMesh: An Immediate LiDAR Localization and Meshing Framework","ImMesh 線上重建的三角網格與估計位姿，並以 R3LIVE 相機位姿貼上影像紋理的結果","CC BY 4.0 (arXiv 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Avia 光達、預覽相機）與實驗影片畫面","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2301.05206v3\u002Fpics\u002Fhardware_v3.jpg","\u002Ffigure-files\u002Flin2023immesh\u002Ffig-6.webp",482,"\u002Ffigure-files\u002Flin2023immesh\u002Ffig-6.thumb.webp",165,{"key":1348,"refId":1323,"refLabel":1324,"refTitle":1325,"year":60,"cluster":10,"fig":1349,"whatZh":1350,"license":1327,"licenseShort":13,"licenseUrl":14,"sourceUrl":1351,"src":1352,"width":30,"height":1353,"thumb":1354,"thumbWidth":20,"thumbHeight":1355,"modified":34,"modifiedZh":35},"-figure-files-lin2023immesh-fig-11","Fig. 11","DJI M300 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的稠密三維重建","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2109.04687v1\u002Ffigure\u002Fpng\u002Fkaist_ubran-07.png","\u002Ffigure-files\u002Fclins2021\u002Ffig-1.webp",926,"\u002Ffigure-files\u002Fclins2021\u002Ffig-1.thumb.webp",366,{"key":1368,"refId":1358,"refLabel":1359,"refTitle":1360,"year":147,"cluster":333,"fig":11,"whatZh":1369,"license":13,"licenseShort":13,"licenseUrl":14,"sourceUrl":1370,"src":1371,"width":30,"height":1372,"thumb":1373,"thumbWidth":20,"thumbHeight":1374,"modified":34,"modifiedZh":35},"-figure-files-clins2021-fig-2","連續時間軌跡示意：活動區段、靜態控制點與新增控制點在三次 B 樣條上的關係","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2109.04687v1\u002Flocal_window.png","\u002Ffigure-files\u002Fclins2021\u002Ffig-2.webp",990,"\u002Ffigure-files\u002Fclins2021\u002Ffig-2.thumb.webp",339,{"key":1376,"refId":1358,"refLabel":1359,"refTitle":1360,"year":147,"cluster":333,"fig":384,"whatZh":1377,"license":13,"licenseShort":13,"licenseUrl":14,"sourceUrl":1378,"src":1379,"width":1380,"height":444,"thumb":1381,"thumbWidth":20,"thumbHeight":1382,"modified":22,"modifiedZh":23},"-figure-files-clins2021-fig-5","作者自組的無人地面車感測器平台，紅框為收集 YQ 序列所用感測器","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2109.04687v1\u002Fcar.png","\u002Ffigure-files\u002Fclins2021\u002Ffig-5.webp",774,"\u002Ffigure-files\u002Fclins2021\u002Ffig-5.thumb.webp",538,{"key":1384,"refId":1358,"refLabel":1359,"refTitle":1360,"year":147,"cluster":333,"fig":163,"whatZh":1385,"license":13,"licenseShort":13,"licenseUrl":14,"sourceUrl":1386,"src":1387,"width":1388,"height":1389,"thumb":1390,"thumbWidth":20,"thumbHeight":326,"modified":22,"modifiedZh":23},"-figure-files-clins2021-fig-6","Fig. 6 下半部：CLINS 含迴圈修正在 YQ-01 建立的點雲地圖（約 700 m 乘 500 m），作者表示與 Google Earth 影像一致；連結僅為地圖子圖","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2109.04687v1\u002Ffigure\u002Fyq-01-map.png","\u002Ffigure-files\u002Fclins2021\u002Ffig-6.webp",1186,705,"\u002Ffigure-files\u002Fclins2021\u002Ffig-6.thumb.webp",{"key":1392,"refId":1393,"refLabel":1394,"refTitle":1395,"year":147,"cluster":452,"fig":62,"whatZh":1396,"license":13,"licenseShort":13,"licenseUrl":64,"sourceUrl":1397,"src":1398,"width":30,"height":1399,"thumb":1400,"thumbWidth":20,"thumbHeight":1401,"modified":34,"modifiedZh":35},"-figure-files-slamtoolbox2021-fig-1","slamtoolbox2021","Macenski & Jambrecic, 2021","SLAM Toolbox: SLAM for the dynamic world","以 SLAM Toolbox 建立的零售賣場二維地圖（圖源為作者 2019 年 ROSCon 報告）","https:\u002F\u002Fraw.githubusercontent.com\u002Fopenjournals\u002Fjoss-papers\u002Fmaster\u002Fjoss.02783\u002Fmedia\u002Fstore_map.png","\u002Ffigure-files\u002Fslamtoolbox2021\u002Ffig-1.webp",809,"\u002Ffigure-files\u002Fslamtoolbox2021\u002Ffig-1.thumb.webp",277,{"key":1403,"refId":1393,"refLabel":1394,"refTitle":1395,"year":147,"cluster":452,"fig":11,"whatZh":1404,"license":13,"licenseShort":13,"licenseUrl":64,"sourceUrl":1405,"src":1406,"width":760,"height":1407,"thumb":1408,"thumbWidth":20,"thumbHeight":1409,"modified":22,"modifiedZh":23},"-figure-files-slamtoolbox2021-fig-2","手動調整位姿圖節點、使該節點雷射掃描對齊地圖的操作畫面","https:\u002F\u002Fraw.githubusercontent.com\u002Fopenjournals\u002Fjoss-papers\u002Fmaster\u002Fjoss.02783\u002Fmedia\u002Futils.png","\u002Ffigure-files\u002Fslamtoolbox2021\u002Ffig-2.webp",439,"\u002Ffigure-files\u002Fslamtoolbox2021\u002Ffig-2.thumb.webp",351,{"key":1411,"refId":1393,"refLabel":1394,"refTitle":1395,"year":147,"cluster":452,"fig":311,"whatZh":1412,"license":13,"licenseShort":13,"licenseUrl":64,"sourceUrl":1413,"src":1414,"width":1415,"height":1416,"thumb":1417,"thumbWidth":20,"thumbHeight":1418,"modified":22,"modifiedZh":23},"-figure-files-slamtoolbox2021-fig-3","分兩次作業建立並合併的大型辦公大樓地圖，兩批資料之間有多個迴圈閉合","https:\u002F\u002Fraw.githubusercontent.com\u002Fopenjournals\u002Fjoss-papers\u002Fmaster\u002Fjoss.02783\u002Fmedia\u002Fcircuit_launch.png","\u002Ffigure-files\u002Fslamtoolbox2021\u002Ffig-3.webp",1393,1613,"\u002Ffigure-files\u002Fslamtoolbox2021\u002Ffig-3.thumb.webp",556,{"key":1420,"refId":1421,"refLabel":1422,"refTitle":1423,"year":105,"cluster":690,"fig":62,"whatZh":1424,"license":1425,"licenseShort":13,"licenseUrl":64,"sourceUrl":1426,"src":1427,"width":30,"height":1428,"thumb":1429,"thumbWidth":20,"thumbHeight":594,"modified":34,"modifiedZh":35},"-figure-files-vggtslam2025-fig-1","vggtslam2025","Maggio 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可修正","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2505.12549v2\u002Ffig\u002Fsim3_3.png","\u002Ffigure-files\u002Fvggtslam2025\u002Ffig-6-arxiv-v2-fig-8-in-neurips-version.webp",844,"\u002Ffigure-files\u002Fvggtslam2025\u002Ffig-6-arxiv-v2-fig-8-in-neurips-version.thumb.webp",314,{"key":1447,"refId":1421,"refLabel":1422,"refTitle":1423,"year":105,"cluster":690,"fig":1448,"whatZh":1449,"license":1425,"licenseShort":13,"licenseUrl":64,"sourceUrl":1450,"src":1451,"width":30,"height":1452,"thumb":1453,"thumbWidth":20,"thumbHeight":1454,"modified":34,"modifiedZh":35},"-figure-files-vggtslam2025-fig-9-arxiv-v2-fig-11-in-neurips-version","Fig. 9 (arXiv v2; Fig. 11 in NeurIPS version)","TUM room 場景 6 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序列無人機軌跡","https:\u002F\u002Far5iv.labs.arxiv.org\u002Fhtml\u002F2202.00379\u002Fassets\u002Ffigs\u002Fsbs_trajs.png","\u002Ffigure-files\u002Fnguyen2022ntuviral\u002Ffig-5.webp",750,"\u002Ffigure-files\u002Fnguyen2022ntuviral\u002Ffig-5.thumb.webp",218,{"key":1482,"refId":1457,"refLabel":1458,"refTitle":1459,"year":332,"cluster":744,"fig":126,"whatZh":1483,"license":108,"licenseShort":13,"licenseUrl":64,"sourceUrl":1484,"src":1485,"width":1486,"height":1487,"thumb":1488,"thumbWidth":20,"thumbHeight":1489,"modified":22,"modifiedZh":23},"-figure-files-nguyen2022ntuviral-fig-9","VIRAL SLAM 在 eee_01 的軌跡與真值對照，以及三維點雲地圖與關鍵影格","https:\u002F\u002Far5iv.labs.arxiv.org\u002Fhtml\u002F2202.00379\u002Fassets\u002Ffigs\u002Feee_01_slam.png","\u002Ffigure-files\u002Fnguyen2022ntuviral\u002Ffig-9.webp",1094,587,"\u002Ffigure-files\u002Fnguyen2022ntuviral\u002Ffig-9.thumb.webp",258,{"key":1491,"refId":1492,"refLabel":1493,"refTitle":1494,"year":147,"cluster":492,"fig":1495,"whatZh":1496,"license":13,"licenseShort":13,"licenseUrl":14,"sourceUrl":1497,"src":1498,"width":1499,"height":315,"thumb":1500,"thumbWidth":20,"thumbHeight":911,"modified":22,"modifiedZh":23},"-figure-files-page2021prisma2020-fig-1","page2021prisma2020","Page et al., 2021","The PRISMA 2020 statement: an updated guideline for reporting systematic reviews","Fig 1","PRISMA 2020 系統性回顧流程圖範本（原始回顧；灰色框僅於適用時填寫）","https:\u002F\u002Fcdn.ncbi.nlm.nih.gov\u002Fpmc\u002Fblobs\u002Fc2b1\u002F8005924\u002F86148118c077\u002Fpagm061899.f1.jpg","\u002Ffigure-files\u002Fpage2021prisma2020\u002Ffig-1.webp",800,"\u002Ffigure-files\u002Fpage2021prisma2020\u002Ffig-1.thumb.webp",{"key":1502,"refId":1503,"refLabel":1504,"refTitle":1505,"year":1506,"cluster":492,"fig":62,"whatZh":1507,"license":13,"licenseShort":13,"licenseUrl":64,"sourceUrl":1508,"src":1509,"width":1510,"height":632,"thumb":1511,"thumbWidth":20,"thumbHeight":1512,"modified":22,"modifiedZh":23},"-figure-files-patraucean2015asbuiltmodelling-fig-1","patraucean2015asbuiltmodelling","Pătrăucean et al., 2015","State of research in automatic as-built modelling",2015,"竣工建模流程圖：由點雲產生、前處理到竣工建模","https:\u002F\u002Fars.els-cdn.com\u002Fcontent\u002Fimage\u002F1-s2.0-S1474034615000026-gr1.jpg","\u002Ffigure-files\u002Fpatraucean2015asbuiltmodelling\u002Ffig-1.webp",622,"\u002Ffigure-files\u002Fpatraucean2015asbuiltmodelling\u002Ffig-1.thumb.webp",208,{"key":1514,"refId":1503,"refLabel":1504,"refTitle":1505,"year":1506,"cluster":492,"fig":11,"whatZh":1515,"license":13,"licenseShort":13,"licenseUrl":64,"sourceUrl":1516,"src":1517,"width":1518,"height":1146,"thumb":1519,"thumbWidth":20,"thumbHeight":1520,"modified":22,"modifiedZh":23},"-figure-files-patraucean2015asbuiltmodelling-fig-2","竣工建模的輸出空間示意，說明目標輸出與客觀限制","https:\u002F\u002Fars.els-cdn.com\u002Fcontent\u002Fimage\u002F1-s2.0-S1474034615000026-gr2.jpg","\u002Ffigure-files\u002Fpatraucean2015asbuiltmodelling\u002Ffig-2.webp",493,"\u002Ffigure-files\u002Fpatraucean2015asbuiltmodelling\u002Ffig-2.thumb.webp",242,{"key":1522,"refId":1503,"refLabel":1504,"refTitle":1505,"year":1506,"cluster":492,"fig":311,"whatZh":1523,"license":13,"licenseShort":13,"licenseUrl":64,"sourceUrl":1524,"src":1525,"width":1526,"height":1527,"thumb":1528,"thumbWidth":20,"thumbHeight":1529,"modified":22,"modifiedZh":23},"-figure-files-patraucean2015asbuiltmodelling-fig-3","竣工建模使用的幾何與實體表示法","https:\u002F\u002Fars.els-cdn.com\u002Fcontent\u002Fimage\u002F1-s2.0-S1474034615000026-gr3.jpg","\u002Ffigure-files\u002Fpatraucean2015asbuiltmodelling\u002Ffig-3.webp",588,191,"\u002Ffigure-files\u002Fpatraucean2015asbuiltmodelling\u002Ffig-3.thumb.webp",156,{"key":1531,"refId":1503,"refLabel":1504,"refTitle":1505,"year":1506,"cluster":492,"fig":320,"whatZh":1532,"license":13,"licenseShort":13,"licenseUrl":64,"sourceUrl":1533,"src":1534,"width":1535,"height":515,"thumb":1536,"thumbWidth":20,"thumbHeight":684,"modified":22,"modifiedZh":23},"-figure-files-patraucean2015asbuiltmodelling-fig-4","既有研究在輸出空間中的定位（作者註明具主觀性）","https:\u002F\u002Fars.els-cdn.com\u002Fcontent\u002Fimage\u002F1-s2.0-S1474034615000026-gr4.jpg","\u002Ffigure-files\u002Fpatraucean2015asbuiltmodelling\u002Ffig-4.webp",489,"\u002Ffigure-files\u002Fpatraucean2015asbuiltmodelling\u002Ffig-4.thumb.webp",{"key":1538,"refId":1539,"refLabel":1540,"refTitle":1541,"year":373,"cluster":333,"fig":62,"whatZh":1542,"license":13,"licenseShort":13,"licenseUrl":14,"sourceUrl":1543,"src":1544,"width":30,"height":1545,"thumb":1546,"thumbWidth":20,"thumbHeight":1547,"modified":34,"modifiedZh":35},"-figure-files-coinlio2024-fig-1","coinlio2024","Pfreundschuh 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六個區域在第一個時間階段的整體點雲，顯示各區平面配置與尺度差異","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2311.09346v2\u002Fbuilding_large.png","\u002Ffigure-files\u002Fsun2025nss\u002Ffig-3.webp",982,390,"\u002Ffigure-files\u002Fsun2025nss\u002Ffig-3.thumb.webp",{"key":1752,"refId":1742,"refLabel":1743,"refTitle":1744,"year":105,"cluster":744,"fig":320,"whatZh":1753,"license":375,"licenseShort":375,"licenseUrl":747,"sourceUrl":1754,"src":1755,"width":1756,"height":640,"thumb":1757,"thumbWidth":20,"thumbHeight":1257,"modified":22,"modifiedZh":23},"-figure-files-sun2025nss-fig-4","各區域在不同施工階段的近景快照，從空無一物到隔間完成的變化","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2311.09346v2\u002Fbuildings.png","\u002Ffigure-files\u002Fsun2025nss\u002Ffig-4.webp",978,"\u002Ffigure-files\u002Fsun2025nss\u002Ffig-4.thumb.webp",{"key":1759,"refId":1742,"refLabel":1743,"refTitle":1744,"year":105,"cluster":744,"fig":163,"whatZh":1760,"license":375,"licenseShort":375,"licenseUrl":747,"sourceUrl":1761,"src":1762,"width":1763,"height":1764,"thumb":1765,"thumbWidth":1763,"thumbHeight":1764,"modified":22,"modifiedZh":23},"-figure-files-sun2025nss-fig-6","Matterport 相機三具 RGB-D 感測器的配置（子圖 a，即連結影像），子圖 b 為據此模擬產生點雲片段的示意","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2311.09346v2\u002Fmatterport_setup.png","\u002Ffigure-files\u002Fsun2025nss\u002Ffig-6.webp",329,367,"\u002Ffigure-files\u002Fsun2025nss\u002Ffig-6.thumb.webp",{"key":1767,"refId":1742,"refLabel":1743,"refTitle":1744,"year":105,"cluster":744,"fig":431,"whatZh":1768,"license":375,"licenseShort":375,"licenseUrl":747,"sourceUrl":1769,"src":1770,"width":1771,"height":1772,"thumb":1773,"thumbWidth":20,"thumbHeight":1774,"modified":22,"modifiedZh":23},"-figure-files-sun2025nss-fig-21","Area F 經成對與多視角配準後的時空對齊結果，不同色調代表不同施工階段","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2311.09346v2\u002Fmulti_color.png","\u002Ffigure-files\u002Fsun2025nss\u002Ffig-21.webp",992,628,"\u002Ffigure-files\u002Fsun2025nss\u002Ffig-21.thumb.webp",304,{"key":1776,"refId":1777,"refLabel":1778,"refTitle":1779,"year":105,"cluster":744,"fig":62,"whatZh":1780,"license":375,"licenseShort":375,"licenseUrl":747,"sourceUrl":1781,"src":1782,"width":30,"height":1783,"thumb":1784,"thumbWidth":20,"thumbHeight":1785,"modified":34,"modifiedZh":35},"-figure-files-tao2025oxfordspires-fig-1","tao2025oxfordspires","Tao et al., 2025","The Oxford Spires Dataset: Benchmarking large-scale LiDAR-visual localisation, reconstruction and radiance field methods","地面雷射掃描取得的 Radcliffe Camera 與 Bodleian 圖書館彩色點雲，以及其他場址的 TLS 地圖視角","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2411.10546v2\u002Ffigures\u002Ffig1_main.jpg","\u002Ffigure-files\u002Ftao2025oxfordspires\u002Ffig-1.webp",627,"\u002Ffigure-files\u002Ftao2025oxfordspires\u002Ffig-1.thumb.webp",215,{"key":1787,"refId":1777,"refLabel":1778,"refTitle":1779,"year":105,"cluster":744,"fig":11,"whatZh":1788,"license":375,"licenseShort":375,"licenseUrl":747,"sourceUrl":1789,"src":1790,"width":1791,"height":1792,"thumb":1793,"thumbWidth":20,"thumbHeight":1794,"modified":22,"modifiedZh":23},"-figure-files-tao2025oxfordspires-fig-2","Frontier 感測器配置，標示三具相機、IMU 與光達的座標系","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2411.10546v2\u002Ffigures\u002Ffig2_isometric-view-cameras-tfs-white.png","\u002Ffigure-files\u002Ftao2025oxfordspires\u002Ffig-2.webp",810,775,"\u002Ffigure-files\u002Ftao2025oxfordspires\u002Ffig-2.thumb.webp",459,{"key":1796,"refId":1777,"refLabel":1778,"refTitle":1779,"year":105,"cluster":744,"fig":311,"whatZh":1797,"license":375,"licenseShort":375,"licenseUrl":747,"sourceUrl":1798,"src":1799,"width":30,"height":1800,"thumb":1801,"thumbWidth":20,"thumbHeight":1802,"modified":34,"modifiedZh":35},"-figure-files-tao2025oxfordspires-fig-3","Leica RTC360 地面雷射掃描儀與 Frontier 背負式裝置在 Blenheim Palace 與 Christ Church 的現場作業","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2411.10546v2\u002Ffigures\u002Ffig3_frontier_sites.jpg","\u002Ffigure-files\u002Ftao2025oxfordspires\u002Ffig-3.webp",693,"\u002Ffigure-files\u002Ftao2025oxfordspires\u002Ffig-3.thumb.webp",238,{"key":1804,"refId":1777,"refLabel":1778,"refTitle":1779,"year":105,"cluster":744,"fig":135,"whatZh":1805,"license":375,"licenseShort":375,"licenseUrl":747,"sourceUrl":1806,"src":1807,"width":665,"height":1808,"thumb":1809,"thumbWidth":20,"thumbHeight":632,"modified":22,"modifiedZh":23},"-figure-files-tao2025oxfordspires-fig-10","VILENS-SLAM、OpenMVS 與 Nerfacto 重建結果依與真值的點對點距離著色比較","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2411.10546v2\u002Ffig10_recon_compare.png","\u002Ffigure-files\u002Ftao2025oxfordspires\u002Ffig-10.webp",677,"\u002Ffigure-files\u002Ftao2025oxfordspires\u002Ffig-10.thumb.webp",{"key":1811,"refId":1812,"refLabel":1813,"refTitle":1814,"year":60,"cluster":61,"fig":1815,"whatZh":1816,"license":13,"licenseShort":13,"licenseUrl":64,"sourceUrl":1817,"src":1818,"width":30,"height":1819,"thumb":1820,"thumbWidth":20,"thumbHeight":1821,"modified":34,"modifiedZh":35},"-figure-files-vegatorres2023ogm2pgbm-figure-1","vegatorres2023ogm2pgbm","Torres et al., 2023","OGM2PGBM: Robust BIM-based 2D-LiDAR localization for lifelong indoor navigation","Figure 1","由多層 BIM 產生佔據格地圖、轉為位姿圖地圖並用於全域定位與位姿追蹤的整體流程","https:\u002F\u002Far5iv.labs.arxiv.org\u002Fhtml\u002F2308.05443\u002Fassets\u002FCompleteMethod_v14.png","\u002Ffigure-files\u002Fvegatorres2023ogm2pgbm\u002Ffigure-1.webp",715,"\u002Ffigure-files\u002Fvegatorres2023ogm2pgbm\u002Ffigure-1.thumb.webp",245,{"key":1823,"refId":1812,"refLabel":1813,"refTitle":1814,"year":60,"cluster":61,"fig":1824,"whatZh":1825,"license":13,"licenseShort":13,"licenseUrl":64,"sourceUrl":1826,"src":1827,"width":1828,"height":1829,"thumb":1830,"thumbWidth":20,"thumbHeight":1831,"modified":22,"modifiedZh":23},"-figure-files-vegatorres2023ogm2pgbm-figure-2-b","Figure 2 (b)","評估情境二：依真實 TLS 資料建立的一般辦公室環境","https:\u002F\u002Far5iv.labs.arxiv.org\u002Fhtml\u002F2308.05443\u002Fassets\u002F02_Figures\u002F5_Experiments\u002FEnvironments\u002F2_v2.jpg","\u002Ffigure-files\u002Fvegatorres2023ogm2pgbm\u002Ffigure-2-b.webp",577,616,"\u002Ffigure-files\u002Fvegatorres2023ogm2pgbm\u002Ffigure-2-b.thumb.webp",512,{"key":1833,"refId":1812,"refLabel":1813,"refTitle":1814,"year":60,"cluster":61,"fig":1834,"whatZh":1835,"license":13,"licenseShort":13,"licenseUrl":64,"sourceUrl":1836,"src":1837,"width":1585,"height":1838,"thumb":1839,"thumbWidth":20,"thumbHeight":1840,"modified":22,"modifiedZh":23},"-figure-files-vegatorres2023ogm2pgbm-figure-2-c","Figure 2 (c)","評估情境三：模擬災後、Scan-BIM 偏差很大的環境","https:\u002F\u002Far5iv.labs.arxiv.org\u002Fhtml\u002F2308.05443\u002Fassets\u002F02_Figures\u002F5_Experiments\u002FEnvironments\u002F3_v3.png","\u002Ffigure-files\u002Fvegatorres2023ogm2pgbm\u002Ffigure-2-c.webp",727,"\u002Ffigure-files\u002Fvegatorres2023ogm2pgbm\u002Ffigure-2-c.thumb.webp",520,{"key":1842,"refId":1812,"refLabel":1813,"refTitle":1814,"year":60,"cluster":61,"fig":1843,"whatZh":1844,"license":13,"licenseShort":13,"licenseUrl":64,"sourceUrl":1845,"src":1846,"width":954,"height":1401,"thumb":1847,"thumbWidth":954,"thumbHeight":1401,"modified":22,"modifiedZh":23},"-figure-files-vegatorres2023ogm2pgbm-figure-3-c","Figure 3 (c)","序列 2-1 的佔據格地圖與機器人軌跡，空房間地圖以藍色疊合顯示 Scan-BIM 偏差","https:\u002F\u002Far5iv.labs.arxiv.org\u002Fhtml\u002F2308.05443\u002Fassets\u002Fbasemap_2_1.png","\u002Ffigure-files\u002Fvegatorres2023ogm2pgbm\u002Ffigure-3-c.webp","\u002Ffigure-files\u002Fvegatorres2023ogm2pgbm\u002Ffigure-3-c.thumb.webp",{"key":1849,"refId":1850,"refLabel":1851,"refTitle":1852,"year":9,"cluster":61,"fig":62,"whatZh":1853,"license":13,"licenseShort":13,"licenseUrl":64,"sourceUrl":1854,"src":1855,"width":30,"height":1856,"thumb":1857,"thumbWidth":20,"thumbHeight":1858,"modified":34,"modifiedZh":35},"-figure-files-tuomisto2026quadrupedbim-fig-1","tuomisto2026quadrupedbim","Tuomisto et al., 2026","Automating on-site object inspection with a quadruped robot and BIM","系統架構：BIM、SLAM、3D 體素地圖、導航、NBV 與 VLM 的資訊流","https:\u002F\u002Fars.els-cdn.com\u002Fcontent\u002Fimage\u002F1-s2.0-S0926580525006119-gr1_lrg.jpg","\u002Ffigure-files\u002Ftuomisto2026quadrupedbim\u002Ffig-1.webp",2204,"\u002Ffigure-files\u002Ftuomisto2026quadrupedbim\u002Ffig-1.thumb.webp",756,{"key":1860,"refId":1850,"refLabel":1851,"refTitle":1852,"year":9,"cluster":61,"fig":11,"whatZh":1861,"license":13,"licenseShort":13,"licenseUrl":64,"sourceUrl":1862,"src":1863,"width":30,"height":1864,"thumb":1865,"thumbWidth":20,"thumbHeight":1866,"modified":34,"modifiedZh":35},"-figure-files-tuomisto2026quadrupedbim-fig-2","加裝 Ouster OS0 光達與 RealSense D415 的 Boston Dynamics Spot","https:\u002F\u002Fars.els-cdn.com\u002Fcontent\u002Fimage\u002F1-s2.0-S0926580525006119-gr2_lrg.jpg","\u002Ffigure-files\u002Ftuomisto2026quadrupedbim\u002Ffig-2.webp",1237,"\u002Ffigure-files\u002Ftuomisto2026quadrupedbim\u002Ffig-2.thumb.webp",424,{"key":1868,"refId":1850,"refLabel":1851,"refTitle":1852,"year":9,"cluster":61,"fig":384,"whatZh":1869,"license":13,"licenseShort":13,"licenseUrl":64,"sourceUrl":1870,"src":1871,"width":30,"height":1872,"thumb":1873,"thumbWidth":20,"thumbHeight":1874,"modified":34,"modifiedZh":35},"-figure-files-tuomisto2026quadrupedbim-fig-5","實驗中的 Spot 與對應的 0.1 m 3D 體素地圖","https:\u002F\u002Fars.els-cdn.com\u002Fcontent\u002Fimage\u002F1-s2.0-S0926580525006119-gr5_lrg.jpg","\u002Ffigure-files\u002Ftuomisto2026quadrupedbim\u002Ffig-5.webp",1960,"\u002Ffigure-files\u002Ftuomisto2026quadrupedbim\u002Ffig-5.thumb.webp",672,{"key":1876,"refId":1850,"refLabel":1851,"refTitle":1852,"year":9,"cluster":61,"fig":470,"whatZh":1877,"license":13,"licenseShort":13,"licenseUrl":64,"sourceUrl":1878,"src":1879,"width":30,"height":1880,"thumb":1881,"thumbWidth":20,"thumbHeight":1882,"modified":34,"modifiedZh":35},"-figure-files-tuomisto2026quadrupedbim-fig-14","實地驗證的機器人軌跡與拍攝視點","https:\u002F\u002Fars.els-cdn.com\u002Fcontent\u002Fimage\u002F1-s2.0-S0926580525006119-gr14_lrg.jpg","\u002Ffigure-files\u002Ftuomisto2026quadrupedbim\u002Ffig-14.webp",891,"\u002Ffigure-files\u002Ftuomisto2026quadrupedbim\u002Ffig-14.thumb.webp",305,{"key":1884,"refId":1885,"refLabel":1886,"refTitle":1887,"year":60,"cluster":302,"fig":11,"whatZh":1888,"license":13,"licenseShort":13,"licenseUrl":14,"sourceUrl":1889,"src":1890,"width":1152,"height":1891,"thumb":1892,"thumbWidth":20,"thumbHeight":1893,"modified":22,"modifiedZh":23},"-figure-files-bimslam2023-fig-2","bimslam2023","Vega Torres et al., 2023","BIM-SLAM: Integrating BIM Models in Multi-session SLAM for Lifelong Mapping using 3D LiDAR","由 BIM 產生的時段資料：佔據格網上的真值位姿圖節點與邊，以及各關鍵影格點雲與極座標描述子","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2408.15870v1\u002F1_2_Session_Data_v3.png","\u002Ffigure-files\u002Fbimslam2023\u002Ffig-2.webp",1343,"\u002Ffigure-files\u002Fbimslam2023\u002Ffig-2.thumb.webp",499,{"key":1895,"refId":1885,"refLabel":1886,"refTitle":1887,"year":60,"cluster":302,"fig":384,"whatZh":1896,"license":13,"licenseShort":13,"licenseUrl":14,"sourceUrl":1897,"src":1898,"width":30,"height":1179,"thumb":1899,"thumbWidth":20,"thumbHeight":294,"modified":34,"modifiedZh":35},"-figure-files-bimslam2023-fig-5","對齊後點雲與 BIM 模型比對所得的正向差異，以及以體素立方體呈現的分群新物件（移除天花板以利檢視）","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2408.15870v1\u002F05_BIM_Step3_newObjects.png","\u002Ffigure-files\u002Fbimslam2023\u002Ffig-5.webp","\u002Ffigure-files\u002Fbimslam2023\u002Ffig-5.thumb.webp",{"key":1901,"refId":1885,"refLabel":1886,"refTitle":1887,"year":60,"cluster":302,"fig":163,"whatZh":1902,"license":13,"licenseShort":13,"licenseUrl":14,"sourceUrl":1903,"src":1904,"width":1905,"height":611,"thumb":1906,"thumbWidth":20,"thumbHeight":1907,"modified":22,"modifiedZh":23},"-figure-files-bimslam2023-fig-6","置於 Go1 四足機器人上的攜帶式建圖系統，含 3D 光達、RGB-D 相機、迷你電腦與電池","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2408.15870v1\u002FrobotDog.png","\u002Ffigure-files\u002Fbimslam2023\u002Ffig-6.webp",579,"\u002Ffigure-files\u002Fbimslam2023\u002Ffig-6.thumb.webp",428,{"key":1909,"refId":1910,"refLabel":1911,"refTitle":1912,"year":373,"cluster":61,"fig":62,"whatZh":1913,"license":13,"licenseShort":13,"licenseUrl":14,"sourceUrl":1914,"src":1915,"width":507,"height":1916,"thumb":1917,"thumbWidth":20,"thumbHeight":1918,"modified":22,"modifiedZh":23},"-figure-files-vegatorres2024slam2ref-fig-1","vegatorres2024slam2ref","Vega-Torres et al., 2024","SLAM2REF: advancing long-term mapping with 3D LiDAR and reference map integration for precise 6-DoF trajectory estimation and map extension","SLAM2REF 三步驟流程總覽：由參考圖產生工作段資料、參考圖多工作段錨定、變化偵測與地圖更新。","https:\u002F\u002Fmedia.springernature.com\u002Flw1200\u002Fspringer-static\u002Fimage\u002Fart%3A10.1007%2Fs41693-024-00126-w\u002FMediaObjects\u002F41693_2024_126_Fig1_HTML.png","\u002Ffigure-files\u002Fvegatorres2024slam2ref\u002Ffig-1.webp",456,"\u002Ffigure-files\u002Fvegatorres2024slam2ref\u002Ffig-1.thumb.webp",182,{"key":1920,"refId":1910,"refLabel":1911,"refTitle":1912,"year":373,"cluster":61,"fig":320,"whatZh":1921,"license":13,"licenseShort":13,"licenseUrl":14,"sourceUrl":1922,"src":1923,"width":836,"height":1924,"thumb":1925,"thumbWidth":20,"thumbHeight":1926,"modified":22,"modifiedZh":23},"-figure-files-vegatorres2024slam2ref-fig-4","由 BIM 網格模擬的 LiDAR 掃描與對應的 Scan Context 描述子，構成合成的參考工作段。","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2408.15948v1\u002FS1_3.png","\u002Ffigure-files\u002Fvegatorres2024slam2ref\u002Ffig-4.webp",320,"\u002Ffigure-files\u002Fvegatorres2024slam2ref\u002Ffig-4.thumb.webp",293,{"key":1928,"refId":1910,"refLabel":1911,"refTitle":1912,"year":373,"cluster":61,"fig":461,"whatZh":1929,"license":13,"licenseShort":13,"licenseUrl":14,"sourceUrl":1930,"src":1931,"width":30,"height":1932,"thumb":1933,"thumbWidth":20,"thumbHeight":1318,"modified":34,"modifiedZh":35},"-figure-files-vegatorres2024slam2ref-fig-13","ConSLAM 序列 2 至 5 對齊 TLS 點雲，以及序列 2 對齊 BIM 後的軌跡、點雲地圖與新增元素。","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2408.15948v1\u002FresultedMaps6_compressed.png","\u002Ffigure-files\u002Fvegatorres2024slam2ref\u002Ffig-13.webp",1044,"\u002Ffigure-files\u002Fvegatorres2024slam2ref\u002Ffig-13.thumb.webp",{"key":1935,"refId":1910,"refLabel":1911,"refTitle":1912,"year":373,"cluster":61,"fig":470,"whatZh":1936,"license":13,"licenseShort":13,"licenseUrl":14,"sourceUrl":1937,"src":1938,"width":507,"height":1939,"thumb":1940,"thumbWidth":20,"thumbHeight":341,"modified":22,"modifiedZh":23},"-figure-files-vegatorres2024slam2ref-fig-14","序列 2 對齊後的變化偵測結果：圖 a 與 TLS 點雲比較，圖 b 與 BIM 比較，新增元素以紅色標示。","https:\u002F\u002Fmedia.springernature.com\u002Flw1200\u002Fspringer-static\u002Fimage\u002Fart%3A10.1007%2Fs41693-024-00126-w\u002FMediaObjects\u002F41693_2024_126_Fig14_HTML.jpg","\u002Ffigure-files\u002Fvegatorres2024slam2ref\u002Ffig-14.webp",374,"\u002Ffigure-files\u002Fvegatorres2024slam2ref\u002Ffig-14.thumb.webp",{"key":1942,"refId":1943,"refLabel":1944,"refTitle":1945,"year":332,"cluster":10,"fig":1815,"whatZh":1946,"license":13,"licenseShort":13,"licenseUrl":14,"sourceUrl":1947,"src":1948,"width":1949,"height":1950,"thumb":1951,"thumbWidth":20,"thumbHeight":1952,"modified":22,"modifiedZh":23},"-figure-files-vizzo2022vdbfusion-figure-1","vizzo2022vdbfusion","Vizzo et al., 2022","VDBFusion: Flexible and Efficient TSDF Integration of Range Sensor Data","VDBFusion 在多個公開 LiDAR 與 RGB-D 資料集的重建結果（藍色為 LiDAR、紅色為 RGB-D）","https:\u002F\u002Fcdn.ncbi.nlm.nih.gov\u002Fpmc\u002Fblobs\u002F99b2\u002F8838740\u002F39c13a94b579\u002Fsensors-22-01296-g001.jpg","\u002Ffigure-files\u002Fvizzo2022vdbfusion\u002Ffigure-1.webp",795,357,"\u002Ffigure-files\u002Fvizzo2022vdbfusion\u002Ffigure-1.thumb.webp",216,{"key":1954,"refId":1943,"refLabel":1944,"refTitle":1945,"year":332,"cluster":10,"fig":1955,"whatZh":1956,"license":13,"licenseShort":13,"licenseUrl":14,"sourceUrl":1957,"src":1958,"width":1959,"height":1960,"thumb":1961,"thumbWidth":20,"thumbHeight":1188,"modified":22,"modifiedZh":23},"-figure-files-vizzo2022vdbfusion-figure-3","Figure 3","系統總覽：輸入點雲與位姿，整合為稀疏 TSDF 後輸出網格或 VDB 資料","https:\u002F\u002Fcdn.ncbi.nlm.nih.gov\u002Fpmc\u002Fblobs\u002F99b2\u002F8838740\u002F77a922d80710\u002Fsensors-22-01296-g003.jpg","\u002Ffigure-files\u002Fvizzo2022vdbfusion\u002Ffigure-3.webp",714,266,"\u002Ffigure-files\u002Fvizzo2022vdbfusion\u002Ffigure-3.thumb.webp",{"key":1963,"refId":1943,"refLabel":1944,"refTitle":1945,"year":332,"cluster":10,"fig":1964,"whatZh":1965,"license":13,"licenseShort":13,"licenseUrl":14,"sourceUrl":1966,"src":1967,"width":1968,"height":1969,"thumb":1970,"thumbWidth":20,"thumbHeight":1971,"modified":22,"modifiedZh":23},"-figure-files-vizzo2022vdbfusion-figure-6","Figure 6","有無空間雕刻時沿射線更新的體素範圍差異","https:\u002F\u002Fcdn.ncbi.nlm.nih.gov\u002Fpmc\u002Fblobs\u002F99b2\u002F8838740\u002F510fea28631e\u002Fsensors-22-01296-g006.jpg","\u002Ffigure-files\u002Fvizzo2022vdbfusion\u002Ffigure-6.webp",700,295,"\u002Ffigure-files\u002Fvizzo2022vdbfusion\u002Ffigure-6.thumb.webp",202,{"key":1973,"refId":1943,"refLabel":1944,"refTitle":1945,"year":332,"cluster":10,"fig":213,"whatZh":1974,"license":13,"licenseShort":13,"licenseUrl":14,"sourceUrl":1975,"src":1976,"width":1977,"height":1978,"thumb":1979,"thumbWidth":20,"thumbHeight":437,"modified":22,"modifiedZh":23},"-figure-files-vizzo2022vdbfusion-figure-12","KITTI 07 地圖逐點誤差：未雕刻時動態物體殘影，雕刻後動態物體移除但車緣也被削去","https:\u002F\u002Fcdn.ncbi.nlm.nih.gov\u002Fpmc\u002Fblobs\u002F99b2\u002F8838740\u002F28f2d4e8371b\u002Fsensors-22-01296-g012.jpg","\u002Ffigure-files\u002Fvizzo2022vdbfusion\u002Ffigure-12.webp",716,342,"\u002Ffigure-files\u002Fvizzo2022vdbfusion\u002Ffigure-12.thumb.webp",{"key":1981,"refId":1982,"refLabel":1983,"refTitle":1984,"year":105,"cluster":10,"fig":62,"whatZh":1985,"license":13,"licenseShort":13,"licenseUrl":64,"sourceUrl":1986,"src":1987,"width":30,"height":1988,"thumb":1989,"thumbWidth":20,"thumbHeight":1990,"modified":34,"modifiedZh":35},"-figure-files-wang2025planarmesh-fig-1","wang2025planarmesh","Wang et al., 2025a","PlanarMesh: Building Compact 3D Meshes from LiDAR using Incremental Adaptive Resolution Reconstruction","以平面網格重建畫框、整個房間與內凹窗框，不同平面以不同顏色表示","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2510.13599v1\u002Fhero_figure_2.png","\u002Ffigure-files\u002Fwang2025planarmesh\u002Ffig-1.webp",350,"\u002Ffigure-files\u002Fwang2025planarmesh\u002Ffig-1.thumb.webp",120,{"key":1992,"refId":1982,"refLabel":1983,"refTitle":1984,"year":105,"cluster":10,"fig":163,"whatZh":1993,"license":13,"licenseShort":13,"licenseUrl":64,"sourceUrl":1994,"src":1995,"width":30,"height":1996,"thumb":1997,"thumbWidth":20,"thumbHeight":1998,"modified":34,"modifiedZh":35},"-figure-files-wang2025planarmesh-fig-6","四段場景中 VDBFusion、ImMesh、TLS 真值與 PlanarMesh 的重建比較，標出門框與凹窗等細節","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2510.13599v1\u002Fcompare_results.png","\u002Ffigure-files\u002Fwang2025planarmesh\u002Ffig-6.webp",848,"\u002Ffigure-files\u002Fwang2025planarmesh\u002Ffig-6.thumb.webp",291,{"key":2000,"refId":2001,"refLabel":2002,"refTitle":2003,"year":105,"cluster":744,"fig":62,"whatZh":2004,"license":2005,"licenseShort":618,"licenseUrl":2006,"sourceUrl":2007,"src":2008,"width":30,"height":2009,"thumb":2010,"thumbWidth":20,"thumbHeight":2011,"modified":34,"modifiedZh":35},"-figure-files-wei2025fusionportablev2-fig-1","wei2025fusionportablev2","Wei et al., 2025a","FusionPortableV2: A unified multi-sensor dataset for generalized SLAM across diverse platforms and scalable environments","手持多感測器裝置的 CAD 模型，標示光達、STIM300、立體相機、事件相機、INS 與稜鏡位置及座標軸","CC BY-NC 4.0 (IJRR version of record, SAGE open access)","https:\u002F\u002Fcreativecommons.org\u002Flicenses\u002Fby-nc\u002F4.0\u002F","https:\u002F\u002Fjournals.sagepub.com\u002Fcms\u002F10.1177\u002F02783649241303525\u002Fasset\u002F946694c1-a6b6-422d-8286-db7e8811f5cd\u002Fassets\u002Fimages\u002Flarge\u002F10.1177_02783649241303525-fig1.jpg","\u002Ffigure-files\u002Fwei2025fusionportablev2\u002Ffig-1.webp",1201,"\u002Ffigure-files\u002Fwei2025fusionportablev2\u002Ffig-1.thumb.webp",412,{"key":2013,"refId":2001,"refLabel":2002,"refTitle":2003,"year":105,"cluster":744,"fig":320,"whatZh":2014,"license":2005,"licenseShort":618,"licenseUrl":2006,"sourceUrl":2015,"src":2016,"width":30,"height":2017,"thumb":2018,"thumbWidth":20,"thumbHeight":2019,"modified":34,"modifiedZh":35},"-figure-files-wei2025fusionportablev2-fig-4","四種平台（手持、四足、無人地面載具、汽車）與場景照片，(e) 為真值設備 3DM-GQ7、Leica MS60、BLK360 與 RTC360","https:\u002F\u002Fjournals.sagepub.com\u002Fcms\u002F10.1177\u002F02783649241303525\u002Fasset\u002F871aa9fb-33a4-46a5-b76a-f4363799a01d\u002Fassets\u002Fimages\u002Flarge\u002F10.1177_02783649241303525-fig4.jpg","\u002Ffigure-files\u002Fwei2025fusionportablev2\u002Ffig-4.webp",1282,"\u002Ffigure-files\u002Fwei2025fusionportablev2\u002Ffig-4.thumb.webp",440,{"key":2021,"refId":2001,"refLabel":2002,"refTitle":2003,"year":105,"cluster":744,"fig":461,"whatZh":2022,"license":2005,"licenseShort":618,"licenseUrl":2006,"sourceUrl":2023,"src":2024,"width":30,"height":2025,"thumb":2026,"thumbWidth":20,"thumbHeight":18,"modified":34,"modifiedZh":35},"-figure-files-wei2025fusionportablev2-fig-13","真值彩色點雲地圖：校園約 0.36 km²（8 cm 解析度）與地下停車場約 0.037 km²（4 mm 解析度）","https:\u002F\u002Fjournals.sagepub.com\u002Fcms\u002F10.1177\u002F02783649241303525\u002Fasset\u002F2dc5e5aa-1e6d-4533-8521-91b6ad06cac1\u002Fassets\u002Fimages\u002Flarge\u002F10.1177_02783649241303525-fig13.jpg","\u002Ffigure-files\u002Fwei2025fusionportablev2\u002Ffig-13.webp",1603,"\u002Ffigure-files\u002Fwei2025fusionportablev2\u002Ffig-13.thumb.webp",{"key":2028,"refId":2001,"refLabel":2002,"refTitle":2003,"year":105,"cluster":744,"fig":527,"whatZh":2029,"license":2005,"licenseShort":618,"licenseUrl":2006,"sourceUrl":2030,"src":2031,"width":30,"height":2032,"thumb":2033,"thumbWidth":20,"thumbHeight":2034,"modified":34,"modifiedZh":35},"-figure-files-wei2025fusionportablev2-fig-15","FAST-LIO2 在六段序列的地圖誤差著色（藍色 0 至紅色 20 cm），顯示戶外 z 軸漂移與植被、玻璃造成的誤差","https:\u002F\u002Fjournals.sagepub.com\u002Fcms\u002F10.1177\u002F02783649241303525\u002Fasset\u002F8400234c-2f31-4d9d-ad08-019771006a0b\u002Fassets\u002Fimages\u002Flarge\u002F10.1177_02783649241303525-fig15.jpg","\u002Ffigure-files\u002Fwei2025fusionportablev2\u002Ffig-15.webp",575,"\u002Ffigure-files\u002Fwei2025fusionportablev2\u002Ffig-15.thumb.webp",197,{"key":2036,"refId":2037,"refLabel":2038,"refTitle":2039,"year":373,"cluster":302,"fig":62,"whatZh":2040,"license":375,"licenseShort":375,"licenseUrl":376,"sourceUrl":2041,"src":2042,"width":703,"height":1831,"thumb":2043,"thumbWidth":703,"thumbHeight":1831,"modified":22,"modifiedZh":23},"-figure-files-yang2024lifelong-fig-1","yang2024lifelong","Yang et al., 2024","Lifelong 3D Mapping Framework for Hand-Held & Robot-Mounted LiDAR Mapping Systems","系統概念圖：使用者上傳多時段三維地圖，經動態物件移除、多時段對齊、變化偵測與版本控制後，可取回任一時段乾淨地圖或查詢任兩時段差異","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2501.18110v1\u002Fcloud.png","\u002Ffigure-files\u002Fyang2024lifelong\u002Ffig-1.webp","\u002Ffigure-files\u002Fyang2024lifelong\u002Ffig-1.thumb.webp",{"key":2045,"refId":2037,"refLabel":2038,"refTitle":2039,"year":373,"cluster":302,"fig":320,"whatZh":2046,"license":375,"licenseShort":375,"licenseUrl":376,"sourceUrl":2047,"src":2048,"width":2049,"height":1949,"thumb":2050,"thumbWidth":20,"thumbHeight":2051,"modified":22,"modifiedZh":23},"-figure-files-yang2024lifelong-fig-4","以 XGrid-Parking 手持光達資料說明完整流程：基準地圖初始化、新時段地圖的動態點移除與對齊，以及正負變化反映到更新後的基準地圖","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2501.18110v1\u002Fwhole_result_6.png","\u002Ffigure-files\u002Fyang2024lifelong\u002Ffig-4.webp",580,"\u002Ffigure-files\u002Fyang2024lifelong\u002Ffig-4.thumb.webp",658,{"key":2053,"refId":2037,"refLabel":2038,"refTitle":2039,"year":373,"cluster":302,"fig":384,"whatZh":2054,"license":375,"licenseShort":375,"licenseUrl":376,"sourceUrl":2055,"src":2056,"width":2057,"height":2058,"thumb":2059,"thumbWidth":20,"thumbHeight":2060,"modified":22,"modifiedZh":23},"-figure-files-yang2024lifelong-fig-5","LT-ParkingLot、XGrid-Parking、XGrid-Outdoor 與 NCLT 的多時段地圖對齊結果，以高度差區分不同時段軌跡","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2501.18110v1\u002Fmulti-sesson-map-alignment-1.png","\u002Ffigure-files\u002Fyang2024lifelong\u002Ffig-5.webp",1097,534,"\u002Ffigure-files\u002Fyang2024lifelong\u002Ffig-5.thumb.webp",234,{"key":2062,"refId":2037,"refLabel":2038,"refTitle":2039,"year":373,"cluster":302,"fig":116,"whatZh":2063,"license":375,"licenseShort":375,"licenseUrl":376,"sourceUrl":2064,"src":2065,"width":1389,"height":2066,"thumb":2067,"thumbWidth":20,"thumbHeight":2068,"modified":22,"modifiedZh":23},"-figure-files-yang2024lifelong-fig-7","XGrid-Outdoor、LT-ParkingLot 與合成資料的變化偵測視覺化：移除消失的樹與車、加入新物件，並保留被遮蔽區域","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2501.18110v1\u002Fmap_change_detection_result.png","\u002Ffigure-files\u002Fyang2024lifelong\u002Ffig-7.webp",376,"\u002Ffigure-files\u002Fyang2024lifelong\u002Ffig-7.thumb.webp",256,{"key":2070,"refId":2071,"refLabel":2072,"refTitle":2073,"year":105,"cluster":690,"fig":11,"whatZh":2074,"license":13,"licenseShort":13,"licenseUrl":64,"sourceUrl":2075,"src":2076,"width":30,"height":2077,"thumb":2078,"thumbWidth":20,"thumbHeight":791,"modified":34,"modifiedZh":35},"-figure-files-yu2025_3dgs_lidar_heritage-fig-2","yu2025_3dgs_lidar_heritage","Yu et al., 2025","From comparison to integration: A workflow evaluation of 3D Gaussian splatting and LiDAR point cloud for modern architectural heritage","3DGS 與 LiDAR 點雲兩條流程在資料擷取、視覺化、語意分割與 VR 傳播四個步驟的對照示意","https:\u002F\u002Fars.els-cdn.com\u002Fcontent\u002Fimage\u002F1-s2.0-S0926580525005497-gr2_lrg.jpg","\u002Ffigure-files\u002Fyu2025_3dgs_lidar_heritage\u002Ffig-2.webp",1600,"\u002Ffigure-files\u002Fyu2025_3dgs_lidar_heritage\u002Ffig-2.thumb.webp",{"key":2080,"refId":2071,"refLabel":2072,"refTitle":2073,"year":105,"cluster":690,"fig":384,"whatZh":2081,"license":13,"licenseShort":13,"licenseUrl":64,"sourceUrl":2082,"src":2083,"width":30,"height":2084,"thumb":2085,"thumbWidth":20,"thumbHeight":2086,"modified":34,"modifiedZh":35},"-figure-files-yu2025_3dgs_lidar_heritage-fig-5","以 Inria 工具、Polycam 與 Postshot 三種流程重建的 3DGS 視覺化結果比較","https:\u002F\u002Fars.els-cdn.com\u002Fcontent\u002Fimage\u002F1-s2.0-S0926580525005497-gr5_lrg.jpg","\u002Ffigure-files\u002Fyu2025_3dgs_lidar_heritage\u002Ffig-5.webp",1383,"\u002Ffigure-files\u002Fyu2025_3dgs_lidar_heritage\u002Ffig-5.thumb.webp",474,{"key":2088,"refId":2071,"refLabel":2072,"refTitle":2073,"year":105,"cluster":690,"fig":163,"whatZh":2089,"license":13,"licenseShort":13,"licenseUrl":64,"sourceUrl":2090,"src":2091,"width":30,"height":2092,"thumb":2093,"thumbWidth":20,"thumbHeight":2094,"modified":34,"modifiedZh":35},"-figure-files-yu2025_3dgs_lidar_heritage-fig-6","GeoSLAM 行動式 SLAM 掃描所得的 Bouwpub 正立面點雲，以及掃描器內建相機拍攝的全景影像","https:\u002F\u002Fars.els-cdn.com\u002Fcontent\u002Fimage\u002F1-s2.0-S0926580525005497-gr6_lrg.jpg","\u002Ffigure-files\u002Fyu2025_3dgs_lidar_heritage\u002Ffig-6.webp",581,"\u002Ffigure-files\u002Fyu2025_3dgs_lidar_heritage\u002Ffig-6.thumb.webp",199,{"key":2096,"refId":2071,"refLabel":2072,"refTitle":2073,"year":105,"cluster":690,"fig":461,"whatZh":2097,"license":13,"licenseShort":13,"licenseUrl":64,"sourceUrl":2098,"src":2099,"width":30,"height":2100,"thumb":2101,"thumbWidth":20,"thumbHeight":2102,"modified":34,"modifiedZh":35},"-figure-files-yu2025_3dgs_lidar_heritage-fig-13","將 LiDAR 點雲匯入 Blender，沿以 Python 重建的原始相機軌跡放置六向虛擬相機進行多視角渲染，再轉為 3DGS 的整合流程與成果","https:\u002F\u002Fars.els-cdn.com\u002Fcontent\u002Fimage\u002F1-s2.0-S0926580525005497-gr13_lrg.jpg","\u002Ffigure-files\u002Fyu2025_3dgs_lidar_heritage\u002Ffig-13.webp",458,"\u002Ffigure-files\u002Fyu2025_3dgs_lidar_heritage\u002Ffig-13.thumb.webp",157,{"key":2104,"refId":2105,"refLabel":2106,"refTitle":2107,"year":147,"cluster":744,"fig":62,"whatZh":2108,"license":2109,"licenseShort":375,"licenseUrl":747,"sourceUrl":2110,"src":2111,"width":2112,"height":2113,"thumb":2114,"thumbWidth":20,"thumbHeight":2115,"modified":22,"modifiedZh":23},"-figure-files-zhang2021ncext-fig-1","zhang2021ncext","Zhang et al., 2021","Multi-Camera LiDAR Inertial Extension to the Newer College Dataset","自製手持多相機光達慣性裝置照片與 URDF 模型的前視、等角與俯視座標框","CC BY-NC-SA 4.0 (arXiv v3)","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2112.08854v3\u002Ffigures\u002Fhalo.png","\u002Ffigure-files\u002Fzhang2021ncext\u002Ffig-1.webp",720,634,"\u002Ffigure-files\u002Fzhang2021ncext\u002Ffig-1.thumb.webp",423,{"key":2117,"refId":2105,"refLabel":2106,"refTitle":2107,"year":147,"cluster":744,"fig":11,"whatZh":2118,"license":2109,"licenseShort":375,"licenseUrl":747,"sourceUrl":2119,"src":2120,"width":2121,"height":2122,"thumb":2123,"thumbWidth":20,"thumbHeight":2124,"modified":22,"modifiedZh":23},"-figure-files-zhang2021ncext-fig-2","三次資料收集所有序列的軌跡疊合於真值地圖","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2112.08854v3\u002Ffigures\u002Fall_trajectories.png","\u002Ffigure-files\u002Fzhang2021ncext\u002Ffig-2.webp",540,935,"\u002Ffigure-files\u002Fzhang2021ncext\u002Ffig-2.thumb.webp",831,{"key":2126,"refId":2105,"refLabel":2106,"refTitle":2107,"year":147,"cluster":744,"fig":311,"whatZh":2127,"license":2109,"licenseShort":375,"licenseUrl":747,"sourceUrl":2128,"src":2129,"width":30,"height":2130,"thumb":2131,"thumbWidth":20,"thumbHeight":801,"modified":34,"modifiedZh":35},"-figure-files-zhang2021ncext-fig-3","以 Leica BLK360 建立的 New College 與 Maths Institute 先驗點雲地圖","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2112.08854v3\u002Ffigures\u002Fmath-and-new-college.png","\u002Ffigure-files\u002Fzhang2021ncext\u002Ffig-3.webp",465,"\u002Ffigure-files\u002Fzhang2021ncext\u002Ffig-3.thumb.webp",{"key":2133,"refId":2105,"refLabel":2106,"refTitle":2107,"year":147,"cluster":744,"fig":384,"whatZh":2134,"license":2109,"licenseShort":375,"licenseUrl":747,"sourceUrl":2135,"src":2136,"width":2137,"height":2138,"thumb":2139,"thumbWidth":20,"thumbHeight":2140,"modified":22,"modifiedZh":23},"-figure-files-zhang2021ncext-fig-5","Maths-Hard 序列上 ORB-SLAM3、OpenVINS 與 VILENS-MC 估計軌跡和真值的俯視比較","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2112.08854v3\u002Ffigures\u002Fmath-trajectory-overlay.png","\u002Ffigure-files\u002Fzhang2021ncext\u002Ffig-5.webp",835,743,"\u002Ffigure-files\u002Fzhang2021ncext\u002Ffig-5.thumb.webp",427,{"key":2142,"refId":2143,"refLabel":2144,"refTitle":2145,"year":60,"cluster":302,"fig":62,"whatZh":2146,"license":13,"licenseShort":13,"licenseUrl":14,"sourceUrl":2147,"src":2148,"width":30,"height":1452,"thumb":2149,"thumbWidth":20,"thumbHeight":1454,"modified":34,"modifiedZh":35},"-figure-files-dynbench2023-fig-1","dynbench2023","Zhang et al., 2023a","A Dynamic Points Removal Benchmark in Point Cloud Maps","KITTI 序列 7 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VLP-32C）：相機影像、各方法清理後的整體地圖與局部放大","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2307.07260v1\u002Fav2_all.png","\u002Ffigure-files\u002Fdynbench2023\u002Ffig-6.webp",778,"\u002Ffigure-files\u002Fdynbench2023\u002Ffig-6.thumb.webp",267,{"key":2159,"refId":2143,"refLabel":2144,"refTitle":2145,"year":60,"cluster":302,"fig":116,"whatZh":2160,"license":13,"licenseShort":13,"licenseUrl":14,"sourceUrl":2161,"src":2162,"width":30,"height":2155,"thumb":2163,"thumbWidth":20,"thumbHeight":2157,"modified":34,"modifiedZh":35},"-figure-files-dynbench2023-fig-7","自建稀疏 VLP-16 半室內資料：人工標註真值與 Removert、ERASOR、Octomap、改良 Octomap 的動態點判定","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2307.07260v1\u002Fvlp16_all.png","\u002Ffigure-files\u002Fdynbench2023\u002Ffig-7.webp","\u002Ffigure-files\u002Fdynbench2023\u002Ffig-7.thumb.webp",{"key":2165,"refId":2166,"refLabel":2167,"refTitle":2168,"year":147,"cluster":106,"fig":62,"whatZh":2169,"license":2170,"licenseShort":375,"licenseUrl":747,"sourceUrl":2171,"src":2172,"width":30,"height":2173,"thumb":2174,"thumbWidth":20,"thumbHeight":2175,"modified":34,"modifiedZh":35},"-figure-files-superodom2021-fig-1","superodom2021","Zhao et al., 2021","Super Odometry: IMU-centric LiDAR-Visual-Inertial Estimator for Challenging Environments","DARPA SubT Alpha Course 由 UGV1、UAV1、UAV2 多機器人建出的地圖，以及黑暗、濃霧、垂直豎井等情境","CC BY-NC-SA 4.0 (arXiv v2)","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2104.14938v2\u002Fexperiment_result\u002Ffirst_page\u002Ffinal_first_page.jpg","\u002Ffigure-files\u002Fsuperodom2021\u002Ffig-1.webp",899,"\u002Ffigure-files\u002Fsuperodom2021\u002Ffig-1.thumb.webp",308,{"key":2177,"refId":2166,"refLabel":2167,"refTitle":2168,"year":147,"cluster":106,"fig":11,"whatZh":2178,"license":2170,"licenseShort":375,"licenseUrl":747,"sourceUrl":2179,"src":2180,"width":30,"height":2181,"thumb":2182,"thumbWidth":20,"thumbHeight":2183,"modified":34,"modifiedZh":35},"-figure-files-superodom2021-fig-2","以 IMU 為中心的系統架構：IMU 里程計與 VIO、LIO 子因子圖互相提供預測與約束","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2104.14938v2\u002FMethod\u002FPipeline.jpg","\u002Ffigure-files\u002Fsuperodom2021\u002Ffig-2.webp",663,"\u002Ffigure-files\u002Fsuperodom2021\u002Ffig-2.thumb.webp",227,{"key":2185,"refId":2166,"refLabel":2167,"refTitle":2168,"year":147,"cluster":106,"fig":320,"whatZh":2186,"license":2170,"licenseShort":375,"licenseUrl":747,"sourceUrl":2187,"src":2188,"width":30,"height":2189,"thumb":2190,"thumbWidth":20,"thumbHeight":2068,"modified":34,"modifiedZh":35},"-figure-files-superodom2021-fig-4","資料蒐集的困難環境（長走廊、白牆與樓梯井、暗室、粉塵洞穴）與無人機上的多感測器配置","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2104.14938v2\u002Fexperiment_result\u002Frealscene\u002Frealscene2.jpg","\u002Ffigure-files\u002Fsuperodom2021\u002Ffig-4.webp",746,"\u002Ffigure-files\u002Fsuperodom2021\u002Ffig-4.thumb.webp",{"key":2192,"refId":2166,"refLabel":2167,"refTitle":2168,"year":147,"cluster":106,"fig":2193,"whatZh":2194,"license":2170,"licenseShort":375,"licenseUrl":747,"sourceUrl":2195,"src":2196,"width":30,"height":2197,"thumb":2198,"thumbWidth":20,"thumbHeight":1610,"modified":34,"modifiedZh":35},"-figure-files-superodom2021-fig-7-c","Fig. 7(c)","粉塵序列中 Super Odometry 的地圖俯視圖與 z 向漂移圖（僅子圖 c）","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2104.14938v2\u002Fexperiment_result\u002Fdust\u002FDust_Super_Odometry.jpg","\u002Ffigure-files\u002Fsuperodom2021\u002Ffig-7-c.webp",1219,"\u002Ffigure-files\u002Fsuperodom2021\u002Ffig-7-c.thumb.webp",{"key":2200,"refId":2201,"refLabel":2202,"refTitle":2203,"year":147,"cluster":106,"fig":2204,"whatZh":2205,"license":13,"licenseShort":13,"licenseUrl":64,"sourceUrl":2206,"src":2207,"width":2208,"height":2209,"thumb":2210,"thumbWidth":20,"thumbHeight":2211,"modified":22,"modifiedZh":23},"-figure-files-camvox2021-fig-1-arxiv-v1","camvox2021","Zhu et al., 2021","CamVox: A Low-cost and Accurate Lidar-assisted Visual SLAM System","Fig. 1 (arXiv v1)","CamVox 範例結果：機器人軌跡、稠密 RGB-D 彩色點雲地圖與局部放大","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2011.11357v1\u002Fexample.png","\u002Ffigure-files\u002Fcamvox2021\u002Ffig-1-arxiv-v1.webp",1096,349,"\u002Ffigure-files\u002Fcamvox2021\u002Ffig-1-arxiv-v1.thumb.webp",153,{"key":2213,"refId":2201,"refLabel":2202,"refTitle":2203,"year":147,"cluster":106,"fig":2214,"whatZh":2215,"license":13,"licenseShort":13,"licenseUrl":64,"sourceUrl":2216,"src":2217,"width":2218,"height":2219,"thumb":2220,"thumbWidth":20,"thumbHeight":178,"modified":22,"modifiedZh":23},"-figure-files-camvox2021-fig-3-arxiv-v1","Fig. 3 (arXiv v1)","完整機器人平台與 CamVox 硬體近照（相機、Livox Horizon、IMU、GPS-RTK），以及對應的彩色影像與 LiDAR 深度影像","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2011.11357v1\u002Fplatform.png","\u002Ffigure-files\u002Fcamvox2021\u002Ffig-3-arxiv-v1.webp",1162,432,"\u002Ffigure-files\u002Fcamvox2021\u002Ffig-3-arxiv-v1.thumb.webp",{"key":2222,"refId":2201,"refLabel":2202,"refTitle":2203,"year":147,"cluster":106,"fig":2223,"whatZh":2224,"license":13,"licenseShort":13,"licenseUrl":64,"sourceUrl":2225,"src":2226,"width":30,"height":1794,"thumb":2227,"thumbWidth":20,"thumbHeight":2102,"modified":34,"modifiedZh":35},"-figure-files-camvox2021-fig-4-arxiv-v1","Fig. 4 (arXiv v1)","CamVox SLAM 流程：ORB-SLAM2 主執行緒之外新增 RGB-D 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反射強度與深度影像和相機灰階影像擷取邊緣後迭代匹配","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2011.11357v1\u002Fcalibration_process.png","\u002Ffigure-files\u002Fcamvox2021\u002Ffig-7-arxiv-v1.webp",1345,853,"\u002Ffigure-files\u002Fcamvox2021\u002Ffig-7-arxiv-v1.thumb.webp",{"key":2238,"refId":2239,"refLabel":2240,"refTitle":2241,"year":105,"cluster":10,"fig":2204,"whatZh":2242,"license":2243,"licenseShort":13,"licenseUrl":64,"sourceUrl":2244,"src":2245,"width":2246,"height":507,"thumb":2247,"thumbWidth":20,"thumbHeight":611,"modified":22,"modifiedZh":23},"-figure-files-zhu2025meshloam-fig-1-arxiv-v1","zhu2025meshloam","Zhu et al., 2025","Mesh-LOAM: Real-Time Mesh-Based LiDAR Odometry and Mapping","KITTI 00 序列的里程計軌跡與大範圍網格地圖，全流程約 54 fps","CC BY 4.0 (arXiv v1; version of record © 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的網格及有號距離誤差圖","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2312.15630v1\u002Fcolor.png","\u002Ffigure-files\u002Fzhu2025meshloam\u002Ffig-11-arxiv-v1.webp",532,"\u002Ffigure-files\u002Fzhu2025meshloam\u002Ffig-11-arxiv-v1.thumb.webp",{"key":2276,"refId":2277,"refLabel":2278,"refTitle":2279,"year":60,"cluster":106,"fig":62,"whatZh":2280,"license":13,"licenseShort":13,"licenseUrl":64,"sourceUrl":2281,"src":2282,"width":960,"height":2283,"thumb":2284,"thumbWidth":20,"thumbHeight":2285,"modified":22,"modifiedZh":23},"-figure-files-iriom4d2023-fig-1","iriom4d2023","Zhuang et al., 2023","4D iRIOM: 4D Imaging Radar Inertial Odometry and Mapping","籃球場資料的 iRIOM 建圖結果：只用雷達自身速度與 IMU 時的地圖，對照再加入雷達點配準後的地圖","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2303.13962v2\u002F8.png","\u002Ffigure-files\u002Firiom4d2023\u002Ffig-1.webp",749,"\u002Ffigure-files\u002Firiom4d2023\u002Ffig-1.thumb.webp",278,{"key":2287,"refId":2277,"refLabel":2278,"refTitle":2279,"year":60,"cluster":106,"fig":11,"whatZh":2288,"license":13,"licenseShort":13,"licenseUrl":64,"sourceUrl":2289,"src":2290,"width":30,"height":2291,"thumb":2292,"thumbWidth":20,"thumbHeight":548,"modified":34,"modifiedZh":35},"-figure-files-iriom4d2023-fig-2","iRIOM 系統概觀：雷達點雲前處理、GNC 自身速度估計、掃描對子地圖配準、迭代 EKF 更新，以及 scancontext 迴圈閉合與位姿圖","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2303.13962v2\u002Fresult\u002F2\u002F2.png","\u002Ffigure-files\u002Firiom4d2023\u002Ffig-2.webp",646,"\u002Ffigure-files\u002Firiom4d2023\u002Ffig-2.thumb.webp",{"key":2294,"refId":2277,"refLabel":2278,"refTitle":2279,"year":60,"cluster":106,"fig":311,"whatZh":2295,"license":13,"licenseShort":13,"licenseUrl":64,"sourceUrl":2296,"src":2297,"width":496,"height":2298,"thumb":2299,"thumbWidth":20,"thumbHeight":2300,"modified":22,"modifiedZh":23},"-figure-files-iriom4d2023-fig-3","測試用地面機器人與感測器配置（ZED 相機與 RGB-D 相機未使用）","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2303.13962v2\u002F3.png","\u002Ffigure-files\u002Firiom4d2023\u002Ffig-3.webp",739,"\u002Ffigure-files\u002Firiom4d2023\u002Ffig-3.thumb.webp",561,{"key":2302,"refId":2277,"refLabel":2278,"refTitle":2279,"year":60,"cluster":106,"fig":384,"whatZh":2303,"license":13,"licenseShort":13,"licenseUrl":64,"sourceUrl":2304,"src":2305,"width":30,"height":2113,"thumb":2306,"thumbWidth":20,"thumbHeight":498,"modified":34,"modifiedZh":35},"-figure-files-iriom4d2023-fig-5","序列 2 偵測到的迴圈閉合與閉合誤差，以及 iRIOM 的建圖結果","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2303.13962v2\u002F5.png","\u002Ffigure-files\u002Firiom4d2023\u002Ffig-5.webp","\u002Ffigure-files\u002Firiom4d2023\u002Ffig-5.thumb.webp",1790510652362]