Contour Context: Abstract Structural Distribution for 3D LiDAR Loop Detection and Metric Pose Estimation
Binqian Jiang,Shaojie Shen,Binqian Jiang,Shaojie Shen
This paper proposes Contour Context, a simple, effective, and efficient topological loop closure detection pipeline with accurate 3-DoF metric pose estimation, targeting the urban autonomous driving scenario. We interpret the Cartesian bird's eye view (BEV) image projected from 3D LiDAR points as layered distribution of structures. To recover elevation information from BEVs, we slice them at diffe...
