Quatro++: Robust Global Registration Exploiting Ground Segmentation for Loop Closing in LiDAR SLAM.
Hyungtae LimBeomsoo KimDaebeom KimEungchang Mason LeeHyun MyungPublished in: CoRR (2023)
Keyphrases
- loop closing
- mobile robot
- simultaneous localization and mapping
- point cloud
- image registration
- level set
- high resolution
- topological map
- kalman filter
- mobile robotics
- image segmentation
- autonomous navigation
- path planning
- loop closure
- indoor environments
- structure from motion
- dynamic environments
- multi view
- reinforcement learning