A LiDAR-intensity SLAM and loop closure detection method using an intensity cylindrical-projection shape context descriptor

A LiDAR-intensity SLAM and loop closure detection method using an intensity cylindrical-projection shape context descriptor

LiDAR Simultaneous Localization and Mapping (SLAM) is able to map unknown scene while online estimating the LiDAR’s pose. Traditional LiDAR SLAM frameworks mainly rely on geometric features in the environments, but ignore LiDAR intensity information, leading to low accuracy in scenes with sparse env...

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Bibliographic Details
Main Authors: Xing Zhang, Hongjuan Zhang, Chuang Qian, Bijun Li, Yongxing Cao
Format: Article
Language:English
Published: Elsevier 2023-08-01
Series:International Journal of Applied Earth Observations and Geoinformation
Subjects:
LiDAR SLAM
LiDAR intensity
Loop closure detection
Comprehensive descriptors
Online Access:http://www.sciencedirect.com/science/article/pii/S1569843223002431

Internet

http://www.sciencedirect.com/science/article/pii/S1569843223002431

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