The paper presents a new SLAM algorithm with two main contributions. Firstly, it proposes a new fast and accurate scan matching algorithm. It uses a multi-layer 3D voxel map and effectively updates features in each voxel, allowing it to choose the best voxel based on resolution and features for the scan matching. Secondly, it introduces a flexible tightly-coupled SLAM framework. This framework does not require a specific sensor setup and automatically finds the best tight coupling. Our experiments demonstrate that our method is capable of real-time processing on Intel and ARM-based processors and is more accurate than current advanced SLAM methods.
