SGLC: Semantic Graph-Guided Coarse-Fine-Refine Full Loop Closing for LiDAR SLAM.
Neng WangXieyuanli ChenChenghao ShiZhiqiang ZhengHongshan YuHuimin LuPublished in: CoRR (2024)
Keyphrases
- loop closing
- coarse to fine
- simultaneous localization and mapping
- mobile robot
- multiresolution
- multiscale
- point cloud
- dynamic environments
- coarse scale
- particle filter
- high resolution
- mobile robotics
- topological map
- object detection
- indoor environments
- kalman filter
- robot navigation
- video sequences
- real world
- dynamic programming
- urban areas
- object recognition
- computer vision