NDT-Map-Code: A 3D global descriptor for real-time loop closure detection in lidar SLAM.
Lizhou LiaoLi SunXinhui BaiZhenxing YouHongyuan YuanChunyun FuPublished in: CoRR (2023)
Keyphrases
- loop closure
- simultaneous localization and mapping
- error accumulation
- outdoor environments
- bundle adjustment
- real time
- loop closing
- map building
- mobile robot
- indoor environments
- data association
- particle filter
- visual odometry
- unknown environments
- topological map
- robot navigation
- high resolution
- kalman filter
- structure from motion
- action recognition
- dynamic environments
- maximum likelihood
- surveillance system
- point cloud
- mobile robotics
- visual tracking
- closed form
- path planning
- dynamic programming