LiPMatch: LiDAR Point Cloud Plane Based Loop-Closure.
Jianwen JiangJikai WangPeng WangPeng BaoZonghai ChenPublished in: IEEE Robotics Autom. Lett. (2020)
Keyphrases
- point cloud
- point cloud data
- plane fitting
- loop closure
- structure from motion
- bundle adjustment
- point sets
- error accumulation
- laser scanner
- lidar data
- hough transform
- stereo camera
- least squares
- three dimensional
- visual hull
- state space
- simultaneous localization and mapping
- outdoor environments
- dynamic programming
- viewpoint
- image sequences