Laser & Optoelectronics Progress, Volume. 60, Issue 24, 2428002(2023)

Loop Closure Detection Algorithm Based on Single Frame-Submap Descriptor Matching

Lianxin Dong*, Kangnian Wang, and Zhanhua Huang
Author Affiliations
  • Key Laboratory of Optoelectronics Information Technology, Ministry of Education, School of Precision Instrument and Opto-Electronics Engineering, Tianjin University, Tianjin 300072, China
  • show less
    References(25)

    [1] Yousif K, Bab-Hadiashar A, Hoseinnezhad R. An overview to visual odometry and visual SLAM: applications to mobile robotics[J]. Intelligent Industrial Systems, 1, 289-311(2015).

    [2] Zaffar M, Ehsan S, Stolkin R et al. Sensors, SLAM and long-term autonomy: a review[C], 285-290(2018).

    [3] Alsadik B, Karam S. The simultaneous localization and mapping (SLAM)-an overview[J]. Journal of Applied Science and Technology Trends, 2, 120-131(2021).

    [4] Xu X B, Zhang L, Yang J et al. A review of multi-sensor fusion SLAM systems based on 3D LIDAR[J]. Remote Sensing, 14, 2835(2022).

    [5] Kim G, Kim A. Scan context: egocentric spatial descriptor for place recognition within 3D point cloud map[C], 4802-4809(2019).

    [6] Wei H J, Xu E Y, Han B et al. Laser simultaneous localization and mapping algorithm based on adaptive features and closed-loop optimization[J]. Laser & Optoelectronics Progress, 60, 0410014(2023).

    [7] Xue G H, Wei J B, Li R X et al. LeGO-LOAM-SC: an improved simultaneous localization and mapping method fusing LeGO-LOAM and scan context for underground coalmine[J]. Sensors, 22, 520(2022).

    [8] Liao L Z, Fu C Y, Feng B B et al. Optimized SC-F-LOAM: optimized fast LiDAR odometry and mapping using scan context[C](2022).

    [9] Wang H, Wang C, Xie L H. Intensity scan context: coding intensity and geometry relations for loop closure detection[C], 2095-2101(2020).

    [10] Besl P J, McKay N D. Method for registration of 3-D shapes[J]. Proceedings of SPIE, 1611, 586-606(1992).

    [11] Shi X Y, Chai Z Q, Zhou Y et al. Global place recognition using an improved scan context for LIDAR-based localization system[C], 498-503(2021).

    [12] Magnusson M. The three-dimensional normal-distributions transform: an efficient representation for registration, surface analysis, and loop detection[D]. Örebro Universitet(2009).

    [13] Chang Y H, Chen N S, Rao L et al. Lidar point cloud descriptor with rotation and translation invariance in dynamic environment[J]. Acta Optica Sinica, 42, 2401007(2022).

    [14] Pan F, Jiang L, Hu Y X et al. Loop detection algorithm based on intensity and height information of point clouds[J]. Journal of Wuhan University of Science and Technology, 45, 464-471(2022).

    [15] Li J, Shao J J, Wang R D et al. A SR-context loop-closure detection algorithm of lidar point clouds[J]. Acta Optica Sinica, 41, 2228002(2021).

    [16] Liu Z, Zhang F, Hong X P. Low-cost retina-like robotic lidars based on incommensurable scanning[J]. IEEE/ASME Transactions on Mechatronics, 27, 58-68(2022).

    [17] Van Nam D, Gon-Woo K. Solid-state LiDAR based-SLAM: a concise review and application[C], 302-305(2021).

    [18] Li X, Mo S T, Huang H et al. Multi-source point cloud registration method based on automatically calculating overlap[J]. Infrared and Laser Engineering, 50, 20210088(2021).

    [19] Chetverikov D, Svirko D, Stepanov D et al. The trimmed iterative closest point algorithm[C], 545-548(2002).

    [20] Li K L, Li M, Hanebeck U D. Towards high-performance solid-state-LiDAR-inertial odometry and mapping[J]. IEEE Robotics and Automation Letters, 6, 5167-5174(2021).

    [21] Zhu F C, Ren Y F, Zhang F. Robust real-time LiDAR-inertial initialization[C], 3948-3955(2022).

    [22] Rusu R B, Cousins S. 3D is here: point cloud library (PCL)[C](2011).

    [23] Dellaert F, Kaess M. Square root SAM: simultaneous localization and mapping via square root information smoothing[J]. International Journal of Robotics Research, 25, 1181-1203(2006).

    [24] Xu W, Cai Y X, He D J et al. FAST-LIO2: fast direct LiDAR-inertial odometry[J]. IEEE Transactions on Robotics, 38, 2053-2073(2022).

    [25] Bai C G, Xiao T, Chen Y J et al. Faster-LIO: lightweight tightly coupled lidar-inertial odometry using parallel sparse incremental voxels[J]. IEEE Robotics and Automation Letters, 7, 4861-4868(2022).

    Tools

    Get Citation

    Copy Citation Text

    Lianxin Dong, Kangnian Wang, Zhanhua Huang. Loop Closure Detection Algorithm Based on Single Frame-Submap Descriptor Matching[J]. Laser & Optoelectronics Progress, 2023, 60(24): 2428002

    Download Citation

    EndNote(RIS)BibTexPlain Text
    Save article for my favorites
    Paper Information

    Category: Remote Sensing and Sensors

    Received: Feb. 22, 2023

    Accepted: Apr. 4, 2023

    Published Online: Nov. 27, 2023

    The Author Email: Dong Lianxin (dlx2zaq@163.com)

    DOI:10.3788/LOP230685

    Topics