The idea of this kind of SLAM solution seems very interesting, especially in terms of the trajectory-based segmentation of the scan matcher workspace, which idea has looked really brilliant since Google Cartographer emerged. From the developer's point of view, there is also a very interesting and challenging problem with the usage of predefined segmented geometry as the basis of the map. Due to this, it could be very useful to have (not only in the paper but also in the public wiki) the following information:
- A detailed (possibly graphic) explanation of all the coordinate systems connected to the submap, and the reference transformations between them.
- Structure of the pose graph which is not documented at all.
- Explanation about how the decision is made about changing from one submap to another during the localization.
- Reference structure information for the pose graph to analyze its structure and artificialize it during loading of the predefined vector graphics into the system.
The idea of this kind of SLAM solution seems very interesting, especially in terms of the trajectory-based segmentation of the scan matcher workspace, which idea has looked really brilliant since Google Cartographer emerged. From the developer's point of view, there is also a very interesting and challenging problem with the usage of predefined segmented geometry as the basis of the map. Due to this, it could be very useful to have (not only in the paper but also in the public wiki) the following information: