GOSMatch: Graph-of-Semantics Matching for Detecting Loop Closures in 3D LiDAR data
Yachen Zhu,Yanyang Ma,Long Chen,Cong Liu,Maosheng Ye,Lingxi Li,Yachen Zhu,Yanyang Ma,Long Chen,Cong Liu,Maosheng Ye,Lingxi Li
Detecting loop closures in 3D Light Detection and Ranging (LiDAR) data is a challenging task since point-level methods always suffer from instability. This paper presents a semantic-level approach named GOSMatch to perform reliable place recognition. Our method leverages novel descriptors, which are generated from the spatial relationship between semantics, to perform frame description and data as...
