Fig. 8From: Short-range Lidar SLAM utilizing localization data of monocular localizationEnvironmental map and robot trajectory from Lidar SLAM. a, b, and c are the environment for dealing with degeneracy in the direction of translation; d, e, and f are the environment for dealing with degeneracy in the direction of rotation. a and d Measurement distance 30m, b and e Measurement distance 4m, c and f Measurement distance 4m (proposed method)Back to article page