The framework demonstrates robustness to a few seconds of point cloud degeneration and achieves accuracy comparable to GLIM. ICRA2025ではGLIMと全く同じグラフ構造のままCPU上で動作するLiDAR-IMU SLAMを発表します。数秒間の点群縮退にも対処可能です。

Do you think it would be possible to offload registration tasks to a server with minimal latency due to downsampling?

I think it would be difficult and don't bring much benefits because the cost of registration tasks after the downsampling is extremely small (only 10 to 150 points are processed).

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Hi, is it SLAM framework builds ths 3D model? Just cannot understand what is 3D or 2D surface.

It builds a 3D point cloud map from LiDAR and IMU data.