Real-Time Lidar Odometry and Mapping with Loop Closure

Real-Time Lidar Odometry and Mapping with Loop Closure

Real-time performance and global consistency are extremely important in Simultaneous Localization and Mapping (SLAM) problems. Classic lidar-based SLAM systems often consist of front-end odometry and back-end pose optimization. However, due to expensive computation, it is often difficult to achieve...

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Bibliographic Details
Main Authors: Yonghui Liu, Weimin Zhang, Fangxing Li, Zhengqing Zuo, Qiang Huang
Format: Article
Language:English
Published: MDPI AG 2022-06-01
Series:Sensors
Subjects:
real-time lidar odometry
submap-based loop-closure detection
pose graph optimization
simultaneous localization and mapping (SLAM)
Online Access:https://www.mdpi.com/1424-8220/22/12/4373

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