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PADLoC: LiDAR-Based Deep Loop Closure Detection and Registration Using Panoptic Attention.

José ArceNiclas VödischDaniele CattaneoWolfram BurgardAbhinav Valada
Published in: IEEE Robotics Autom. Lett. (2023)
Keyphrases
  • loop closure
  • error accumulation
  • lidar data
  • point cloud
  • bundle adjustment
  • outdoor environments
  • image registration
  • data fusion
  • image sequences
  • high resolution
  • object detection
  • vision system
  • structure from motion