A Real-Time and Fast LiDAR-IMU-GNSS SLAM System with Point Cloud Semantic Graph Descriptor Loop-Closure Detection.
Yingzhong TianFeng LiuHongfei LiuYiming LiuHeru SuwoyoTao JinLong LiJieyu WangPublished in: Adv. Intell. Syst. (2023)
Keyphrases
- loop closure
- point cloud
- bundle adjustment
- structure from motion
- simultaneous localization and mapping
- error accumulation
- outdoor environments
- lidar data
- real time
- point cloud data
- loop closing
- point sets
- mobile robot
- laser scanner
- computer vision
- camera parameters
- kalman filter
- image sequences
- map building
- dynamic environments
- mobile robotics
- stereo camera
- high resolution
- pairwise
- action recognition
- dynamic programming
- multi view
- surveillance system
- closed form