Intensity Scan Context: Coding Intensity and Geometry Relations for Loop Closure Detection
Han Wang,Chen Wang,Lihua Xie,Han Wang,Chen Wang,Lihua Xie
Loop closure detection is an essential and challenging problem in simultaneous localization and mapping (SLAM). It is often tackled with light detection and ranging (LiDAR) sensor due to its view-point and illumination invariant properties. Existing works on 3D loop closure detection often leverage on matching of local or global geometrical-only descriptors which discard intensity reading. In this...
