Abstract: Loop closure is necessary for correcting errors accumulated in simultaneous localization and mapping (SLAM) in unknown environments. However, conventional loop closure methods based on ...
HTD: A Hybrid Triangle Descriptor Combining Geometry and Intensity Information for 3D Loop Detection
Abstract: Loop detection is essential for a simultaneous localization and mapping (SLAM) system. For LiDAR SLAM, most of existing methods only extract geometrically-based features to search loops, ...
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