Seed: A Segmentation-Based Egocentric 3D Point Cloud Descriptor for Loop Closure Detection
Yunfeng Fan,Yichang He,U-Xuan Tan,Yunfeng Fan,Yichang He,U-Xuan Tan
Place recognition is essential for SLAM system since it is critical for loop closure and can help to correct the accumulated drift and result in a globally consistent map. Unlike the visual slam which can use diverse feature detection methods to describe the scene, there are limited works reported to represent a place using single LiDAR scan. In this paper, we propose a segmentation-based egocentr...
