LiDAR Iris for Loop-Closure Detection
Ying Wang,Zezhou Sun,Cheng-Zhong Xu,Sanjay E. Sarma,Jian Yang,Hui Kong,Ying Wang,Zezhou Sun,Cheng-Zhong Xu,Sanjay E. Sarma,Jian Yang,Hui Kong
In this paper, a global descriptor for a LiDAR point cloud, called LiDAR Iris, is proposed for fast and accurate loop-closure detection. A binary signature image can be obtained for each point cloud after several LoG-Gabor filtering and thresholding operations on the LiDAR-Iris image representation. Given two point clouds, their similarities can be calculated as the Hamming distance of two corresp...
