SA-LOAM: Semantic-aided LiDAR SLAM with Loop Closure.

Lin Li Xin Kong Xiangrui Zhao Wanlong Li Feng Wen Hongbo Zhang Yong Liu

Published in: CoRR (2021)

Keyphrases

loop closure
simultaneous localization and mapping
loop closing
mobile robot
error accumulation
simulated annealing
bundle adjustment
outdoor environments
data association
unknown environments
map building
dynamic environments
kalman filter
mobile robotics
high resolution
robot navigation
vision system