On the descriptive power of LiDAR intensity images for segment-based loop closing in 3-D SLAM
Jan Wietrzykowski,Piotr Skrzypczyński,Jan Wietrzykowski,Piotr Skrzypczyński
We propose an extension to the segment-based global localization method for LiDAR SLAM using descriptors learned considering the visual context of the segments. A new architecture of the deep neural network is presented that learns the visual context acquired from synthetic LiDAR intensity images. This approach allows a single multi-beam LiDAR to produce rich and highly descriptive location signat...
