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2. Automaticaly initialized at most steady environments; 2. Automaticaly initialized at most steady environments;
3. Parallel KD-Tree Search to decrease the computation; 3. Parallel KD-Tree Search to decrease the computation;
4. Robust feature extraction; 4. Robust feature extraction;
5. Surpports for different FOV.
**Developers**
Wei Xu 徐威: Laser mapping and pose optimization
Zheng Liu 刘政: Features extraction
To know more about the details, please refer to our related paper:) To know more about the details, please refer to our related paper:)