A Real-Time and Fast LiDAR-IMU-GNSS SLAM System with Point Cloud Semantic Graph Descriptor Loop-Closure Detection.
Yingzhong TianFeng LiuHongfei LiuYiming LiuHeru SuwoyoTao JinLong LiJieyu WangPublished in: Adv. Intell. Syst. (2023)
Keyphrases
- point cloud
- loop closure
- bundle adjustment
- structure from motion
- simultaneous localization and mapping
- lidar data
- error accumulation
- outdoor environments
- real time
- mobile robot
- point cloud data
- camera parameters
- laser scanner
- computer vision
- point sets
- dynamic environments
- camera motion
- stereo camera
- loop closing
- visual odometry
- least squares
- face recognition
- video sequences
- map building
- object recognition
- viewpoint
- topological map
- multi view
- mobile robotics
- kalman filter