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[后续工作][FR/FAR-LIO] 机器人中心地图与鲁棒匹配 #7
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cudaCUDA and GPU accelerationCUDA and GPU accelerationenhancementNew feature or requestNew feature or requestfuture-workPost-baseline roadmap work not yet in stable Batch-LIOPost-baseline roadmap work not yet in stable Batch-LIOmappingMap representation, lookup, and maintenanceMap representation, lookup, and maintenanceresearchExperimental work requiring benchmark validationExperimental work requiring benchmark validation
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cudaCUDA and GPU accelerationCUDA and GPU accelerationenhancementNew feature or requestNew feature or requestfuture-workPost-baseline roadmap work not yet in stable Batch-LIOPost-baseline roadmap work not yet in stable Batch-LIOmappingMap representation, lookup, and maintenanceMap representation, lookup, and maintenanceresearchExperimental work requiring benchmark validationExperimental work requiring benchmark validation
状态
开发中 / 实验性，不代表完整复现 FR-LIO 或 FAR-LIO。
目标
评估机器人中心体素地图、自适应密度、鲁棒阈值和稀疏 GICP，并保留 Batch-LIO 量测语义。
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