BEVLCD+: Real-Time and Rotation-Invariant Loop Closure Detection Based on BEV of Point Cloud.
Danyang CaoHaosong YueZhong LiuXingming WuWeihai ChenPublished in: IEEE Trans. Instrum. Meas. (2023)
Keyphrases
- rotation invariant
- point cloud
- loop closure
- bundle adjustment
- structure from motion
- real time
- error accumulation
- texture analysis
- outdoor environments
- texture classification
- point sets
- texture features
- feature vectors
- simultaneous localization and mapping
- local binary pattern
- gabor filters
- computer vision
- detection method
- object detection
- texture images
- stereo camera
- camera motion
- missing data
- least squares
- vision system
- autonomous navigation
- maximum likelihood
- dynamic environments
- image processing