Semantic Topological Descriptor for Loop Closure Detection within 3D Point Clouds In Outdoor Environment
Ming Liao,Yunzhou Zhang,Jinpeng Zhang,Liang Liang,Sonya Coleman,Dermot Kerr,Ming Liao,Yunzhou Zhang,Jinpeng Zhang,Liang Liang,Sonya Coleman,Dermot Kerr
Loop closure detection has the potential to correct the drift of trajectories and build a global consistent map in LiDAR SLAM, however it remains a challenging problem in outdoor environment due to the sparsity of 3D point clouds data, large-scale scenes and moving objects. Inspired by the way humans perceive the environment through recognizing objects and identifying their relations, this paper p...
