Last two decades, the problem of robotic mapping has made a lot of progress in the research community. However, since the data provided by the sensor still contains noise, how to obtain an accurate map is still an open problem. In this note, we analyze the problem from the perspective of mathematical analysis and propose a probabilistic map update method based on multiple explorations. The proposed method can help us estimate the number of rounds of robot exploration, which is meaningful for the hardware and time costs of the task.

中文翻译：

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基于飞行时间 LiDAR 的精确映射

近二十年来，机器人测绘问题在研究界取得了很大进展。然而，由于传感器提供的数据仍然含有噪声，如何获得准确的地图仍然是一个悬而未决的问题。在这篇笔记中，我们从数学分析的角度分析问题，并提出了一种基于多次探索的概率地图更新方法。所提出的方法可以帮助我们估计机器人探索的轮数，这对于任务的硬件和时间成本是有意义的。