Effectively Detecting Loop Closures using Point Cloud Density Maps
Saurabh Gupta,Tiziano Guadagnino,Benedikt Mersch,Ignacio Vizzo,Cyrill Stachniss,Saurabh Gupta,Tiziano Guadagnino,Benedikt Mersch,Ignacio Vizzo,Cyrill Stachniss
The ability to detect loop closures plays an essential role in any SLAM system. Loop closures allow correcting the drifting pose estimates from a sensor odometry pipeline. In this paper, we address the problem of effectively detecting loop closures in LiDAR SLAM systems in various environments with longer lengths of sequences and agnostic of the scanning pattern of the sensor. While many approache...
