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Found 3 papers, 2 papers with code
Tightly-Coupled LiDAR-Visual SLAM Based on Geometric Features for Mobile Agents
On the other hand, the entire line segment detected by the visual subsystem overcomes the limitation of the LiDAR subsystem, which can only perform the local calculation for geometric features.
Bi-Mapper: Holistic BEV Semantic Mapping for Autonomous Driving
At the same time, an Across-Space Loss (ASL) is designed to mitigate the negative impact of geometric distortions.
360BEV: Panoramic Semantic Mapping for Indoor Bird's-Eye View
Seeing only a tiny part of the whole is not knowing the full circumstance.
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