A Graph Optimization-Based Acoustic SLAM Edge Computing System Offering Centimeter-Level Mapping Services with Reflector Recognition Capability

<div>(a) Layout of the sound source and microphone on the robot. (b) Schematic diagram of the robot moving in the room.</div>

Security and Communication Networks

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Figure 2

Figure 2: A Graph Optimization-Based Acoustic SLAM Edge Computing System Offering Centimeter-Level Mapping Services with Reflector Recognition Capability 

Figure 2 | A Graph Optimization-Based Acoustic SLAM Edge Computing System Offering Centimeter-Level Mapping Services with Reflector Recognition Capability 