LCDNet: Deep Loop Closure Detection for LiDAR SLAM based on Unbalanced Optimal Transport.
Daniele CattaneoMatteo VaghiAbhinav ValadaPublished in: CoRR (2021)
Keyphrases
- loop closure
- simultaneous localization and mapping
- error accumulation
- bundle adjustment
- outdoor environments
- lidar data
- mobile robot
- point cloud
- indoor environments
- loop closing
- real time
- data association
- dynamic environments
- particle filter
- unknown environments
- event detection
- structure from motion
- face recognition
- computer vision