SA-LOAM: Semantic-aided LiDAR SLAM with Loop Closure.
Lin LiXin KongXiangrui ZhaoWanlong LiFeng WenHongbo ZhangYong LiuPublished in: ICRA (2021)
Keyphrases
- loop closure
- simultaneous localization and mapping
- mobile robot
- loop closing
- bundle adjustment
- error accumulation
- simulated annealing
- outdoor environments
- indoor environments
- map building
- dynamic environments
- data association
- particle filter
- point cloud
- reinforcement learning
- real time
- autonomous vehicles
- mobile robotics
- kalman filter
- unknown environments
- computer vision