On the descriptive power of LiDAR intensity images for segment-based loop closing in 3-D SLAM.
Jan WietrzykowskiPiotr SkrzypczynskiPublished in: IROS (2021)
Keyphrases
- loop closing
- intensity images
- simultaneous localization and mapping
- mobile robot
- shape from shading
- range images
- range data
- color information
- topological map
- transfer function
- point cloud
- particle filter
- surface normals
- low frequency
- active contour model
- indoor environments
- high resolution
- data association
- dynamic environments
- mobile robotics
- path planning
- image segmentation
- depth images
- autonomous navigation
- multiscale
- visual odometry
- three dimensional