NDD: A 3D Point Cloud Descriptor Based on Normal Distribution for Loop Closure Detection
Ruihao Zhou,Li He,Hong Zhang,Xubin Lin,Yisheng Guan,Ruihao Zhou,Li He,Hong Zhang,Xubin Lin,Yisheng Guan
Loop closure detection is a key technology for long-term robot navigation in complex environments. In this paper, we present a global descriptor, named Normal Distribution Descriptor (NDD), for 3D point cloud loop closure detection. The descriptor encodes both the probability density score and entropy of a point cloud as the descriptor. We also propose a fast rotation alignment process and use cor...
