Online LiDAR-SLAM for Legged Robots with Robust Registration and Deep-Learned Loop Closure
Milad Ramezani,Georgi Tinchev,Egor Iuganov,Maurice Fallon,Milad Ramezani,Georgi Tinchev,Egor Iuganov,Maurice Fallon
In this paper, we present a 3D factor-graph LiDAR-SLAM system which incorporates a state-of-the-art deeply learned feature-based loop closure detector to enable a legged robot to localize and map in industrial environments. Point clouds are accumulated using an inertial-kinematic state estimator before being aligned using ICP registration. To close loops we use a loop proposal mechanism which matc...
