On the descriptive power of LiDAR intensity images for segment-based loop closing in 3-D SLAM.
Jan WietrzykowskiPiotr SkrzypczynskiPublished in: CoRR (2021)
Keyphrases
- loop closing
- intensity images
- mobile robot
- simultaneous localization and mapping
- range images
- shape from shading
- range data
- color information
- point cloud
- dynamic environments
- surface normals
- topological map
- transfer function
- high resolution
- image processing
- active contour model
- mobile robotics
- active contours
- camera motion
- particle filter
- image data
- object recognition
- video sequences