A Novel Topology Metric for Indoor Point Cloud SLAM Based on Plane Detection Optimization.
Zhenchao OuyangJiahe CuiYunxiang HeDongyu LiQinglei HuChangjie ZhangPublished in: CollaborateCom (3) (2023)
Keyphrases
- point cloud
- point cloud data
- lidar data
- indoor environments
- normal vectors
- plane fitting
- dominant plane
- point sets
- structure from motion
- surface reconstruction
- implicit surfaces
- mobile robot
- visual odometry
- laser scanner
- real world objects
- three dimensional
- stereo camera
- simultaneous localization and mapping
- ground plane
- optical flow
- optimization process
- hough transform
- data association
- triangular mesh
- d objects
- feature space