3PCD-TP: A 3D Point Cloud Descriptor for Loop Closure Detection with Twice Projection

3PCD-TP: A 3D Point Cloud Descriptor for Loop Closure Detection with Twice Projection

Loop closure detection (LCD) can effectively eliminate the cumulative errors in simultaneous localization and mapping (SLAM) by detecting the position of a revisit and building interframe pose constraint relations. However, in real-world natural scenes, driverless ground vehicles or robots usually r...

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Bibliographic Details
Main Authors: Gang Wang, Xudong Jiang, Wei Zhou, Yu Chen, Hao Zhang
Format: Article
Language:English
Published: MDPI AG 2022-12-01
Series:Remote Sensing
Subjects:
autonomous driving
robotics
LiDAR
SLAM
loop closure detection
global descriptor
Online Access:https://www.mdpi.com/2072-4292/15/1/82

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