GPS/IMU free SLAM for Velodyne HDL64 and VLP16

Velodyne HDL 64:

 

 

Velodyne VLP 16:

 

Reference

B. Gálai, B. Nagy and C. Benedek: ”Crossmodal Point Cloud Registration in the Hough Space for Mobile Laser Scanning Data", International Conference on Pattern Recognition (ICPR), Cancun, Mexico, 2016