Loop detection for 3D LiDAR SLAM using segment-group matching.
Masahiro TomonoPublished in: Adv. Robotics (2020)
Keyphrases
- lidar data
- object detection
- aerial imagery
- matching algorithm
- false alarms
- mobile robot
- loop closure
- detection method
- image matching
- detection accuracy
- automatic detection
- detection algorithm
- false positives
- keypoints
- image pairs
- graph matching
- detection rate
- change detection
- simultaneous localization and mapping
- event detection
- watershed segmentation
- dense stereo matching
- data association
- image sequences
- anomaly detection
- particle filter
- state space
- high resolution