Loop Closure Detection Method of Laser SLAM Based on Global Feature Descriptor

Loop Closure Detection Method of Laser SLAM Based on Global Feature Descriptor

To solve the problem that localization error of the underground inspection system continues to accumulate over time, a loop closure detection algorithm based on point cloud global feature descriptor is proposed, which is suitable for laser simultaneous localization and mapping (SLAM). The feature ve...

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Bibliographic Details
Main Author: HAN Chao, CHEN Min, HUANG Yuhao, ZHAO Minghui, DU Qiankun, LIANG Qinhua
Format: Article
Language:zho
Published: Editorial Office of Journal of Shanghai Jiao Tong University 2022-10-01
Series:Shanghai Jiaotong Daxue xuebao
Subjects:
underground inspection
laser localization
loop closure detection
global feature descriptor
Online Access:http://xuebao.sjtu.edu.cn/article/2022/1006-2467/1006-2467-56-10-1379.shtml

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