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Semantic Topological Descriptor for Loop Closure Detection within 3D Point Clouds In Outdoor Environment.
Ming Liao
Yunzhou Zhang
Jinpeng Zhang
Liang Liang
Sonya Coleman
Dermot Kerr
Published in:
IROS (2022)
Keyphrases
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outdoor environments
loop closure
surveillance system
mobile robot
indoor environments
autonomous navigation
simultaneous localization and mapping
point cloud
map building
real world
computer vision
object recognition
object detection
graph cuts
field of view
topological map