《LiDAR Iris for Loop-Closure Detection》(IROS 2020 ) Motivation: 目前激光的全局或者局部描述子的描述能力和不变性能里仍然有所欠缺,虽然Scan-Context的提出,很大程度上缓解了这个问题,但是Scan-Context本身仍然有一些缺陷,一是它只利用了最大的高度,丢失了很多点云信息,二是Scan-Context不具有旋转不变性,需要进...
Loop closure detection, also known as place recognition, a key component of simultaneous localization and mapping (SLAM) systems, aims to recognize previously visited locations and reduce the accumulated drift error caused by odometry. Current vision-based methods are susceptible to variations in illumin...
is proposed for fast and accurate loop-closure detection. A binary signature image can be obtained for each point cloud after a couple of LoG-Gabor filtering and thresholding operations on the LiDAR-Iris image representation. Given two point clouds, the similarity of them can be calculated as th...
在本文中,我们提出并实验验证了一个结合激光扫描到子地图匹配(scan-to-submap)、闭环检测(loop closure detection)和图优化(graph optimization)的2D SLAM系统。单独的子地图轨迹是使用我们局部的、基于栅格的SLAM方法创建的。在后台,所有激光扫描使用pixel-accurate扫描匹配到附近的子地图中以创建闭环约束。对后台子地图...
Theautomatic detectionof the loop closure is coming soon, so stay tuned! Use our SLAM to map the world! Tags: 3D ReconstructionComputer VisionLidarLidarViewloop closurePoint Cloudslam Advancements in 3D LiDAR Object Detection January 9, 2025 • By Tong Fu and Gatien Ferret ...
Loop closure detection is a key technology for long-term robot navigation in complex environments. In this paper, we present a global descriptor, named Normal Distribution Descriptor (NDD), for 3D point cloud loop closure detection. The descriptor encodes both the probability density score and entro...
[27] X. Ji, L. Zuo, C. Zhang, and Y. Liu, “Lloam: Lidar odometry and mapping with loop-closure detection based correction,” in 2019 IEEE International Conference on Mechatronics and Automation (ICMA), Aug 2019, pp. 2475–2480. ...
Loop-closure detection, also known as place recognition, aiming to identify previously visited locations, is an essential component of a SLAM system. Existing research on lidar-based loop closure heavily relies on dense point cloud and 360 FOV lidars. This paper proposes an out-of-the-box NDT ...
在SLAM框架中,回路闭环检测(loop closure deretion,LCD)是用于确定机器人是否返回到先前访问过的位置或地点的方法。但是简单的识别重新访问过的问题是不足以在SLAM进行环路闭合的,通常还需要当前位置和先前位置之间的相对变换。在本文中,术语LCD和loop detection是可交换的,因为两者都要检测重新访问的区域和估计相对变换...
4)A4-包括视觉闭环检测的影响,Effect of including visual loop closure detection:我们通过在VIS子系统中启用闭环检测功能,来消除系统的漂移。当框架中每个模块都启动时最终的轨迹在图7中标记为A4。 图7. 使用Urban数据集进行控制变量(ablation study)的轨迹 B. Jackal 数据集 Jackal数据集通过安装在Clearpath Jackal...