LCDNet: Deep Loop Closure Detection and Point Cloud Registration for LiDAR SLAM.
Daniele CattaneoMatteo VaghiAbhinav ValadaPublished in: IEEE Trans. Robotics (2022)
Keyphrases
- point cloud
- loop closure
- bundle adjustment
- structure from motion
- simultaneous localization and mapping
- lidar data
- error accumulation
- outdoor environments
- point cloud data
- mobile robot
- point sets
- map building
- camera parameters
- stereo camera
- computer vision
- image sequences
- camera motion
- loop closing
- laser scanner
- robot navigation
- kalman filter
- indoor environments
- real time
- iterative closest point
- icp algorithm
- dynamic environments
- d objects
- motion estimation
- machine learning
- motion parameters