6-DOF Feature based LIDAR SLAM using ORB Features from Rasterized Images of 3D LIDAR Point Cloud.
Waqas AliPeilin LiuRendong YingZheng GongPublished in: CoRR (2021)
Keyphrases
- point cloud
- image features
- laser scanner
- real world objects
- lidar data
- structure from motion
- surface reconstruction
- rigid registration
- image data
- cad model
- point sets
- feature matching
- input image
- feature extraction
- image regions
- feature vectors
- object recognition
- point cloud data
- mobile robot
- three dimensional
- feature points
- multi view
- computer vision
- image pairs
- aerial images
- image matching
- nearest neighbor