Real-TimeLoopClosurein2DLIDARSLAMIVC.Ceresscanmatching详细记录一下公式CS 详细记录一下公式CS 公式CS中,hk表示的是每一帧的激光点,总共有K个,其坐标是相对于激光雷达坐标系中(也就是scan)的坐标。 思路:假设我们将scan的坐标系经过T的坐标变换,计算经过坐标变换之后的scan与submap的一致程度,计算出 ...
Stable keypoints selection for 2D LiDAR based place recognition with map data reduction In the second stage, the approach is evaluated using raw data in the contexts of global localization, and loop closure detection in a SLAM framework. ... L Douadi,Y Dupuis,P Vasseur - 《Robotica》 被引...
In our work, we focus on lidar-based real-time pose estimation and a mapping method with loop closure. A great deal of attention has been paid to lidar-based pose estimation and mapping methods for the last few years. For instance, a feature-based 3D lidar-based SLAM framework called ...
However, the loop closure detection results are still unsatisfactory in the face of a complex scene (strong light and jitters) [21]. Most existing high-dimensional feature extraction methods struggle to meet the real-time needs of loop closure detection. To solve the above problems, a real-...
More specifically, with the maximum height as a feature, SC can both detect a loop closure and provide the initial reference value for the angle of rotation for the SLAM algorithm while projecting 3D point clouds into a 2D descriptor. However, scan context is more vulnerable to changes in ...