A LiDAR SLAM System With Geometry Feature Group-Based Stable Feature Selection and Three-Stage Loop Closure Optimization.
Meng XuShiqi LinJikai WangZonghai ChenPublished in: IEEE Trans. Instrum. Meas. (2023)
Keyphrases
- feature selection
- loop closure
- simultaneous localization and mapping
- feature set
- loop closing
- feature subset
- mobile robot
- three dimensional
- map building
- feature vectors
- error accumulation
- point cloud
- feature extraction
- feature space
- machine learning
- outdoor environments
- mobile robotics
- indoor environments
- dynamic environments
- robot navigation
- kalman filter
- least squares
- d objects