Nice! For map based navigation, whenever I tried to match the point cloud to the map, it gave me a wrong pose estimation due to wrong correspondences as there are too many match candidates. So I made the map as pairs of (pose, LiDAR scan) and matched to the LiDAR scan at that pose, which made the "map" file too big. Great work! I should read your paper to re-implement the navigation module.
Nice! For map based navigation, whenever I tried to match the point cloud to the map, it gave me a wrong pose estimation due to wrong correspondences as there are too many match candidates. So I made the map as pairs of (pose, LiDAR scan) and matched to the LiDAR scan at that pose, which made the "map" file too big. Great work! I should read your paper to re-implement the navigation module.