APPLIED LASER, Volume. 43, Issue 1, 84(2023)

Loop Detection Laser SLAM Algorithm Based on Global Descriptor

Li Hong1,2、*, Huang Yiqing1,2, and Lin Lin1,2
Author Affiliations
  • 1[in Chinese]
  • 2[in Chinese]
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    References(12)

    [1] [1] ANGELI A, FILLIAT D, DONCIEUX S, et al.Fast and incremental method for loop-closure detection using bags of visual words[J]. IEEE Transactions on Robotics, 2008, 24(5): 1027-1037.

    [3] [3] MUR-ARTAL R, TARDS J D. ORB-SLAM2: An open-source SLAM system for monocular, stereo, and RGB-D cameras[J]. IEEE Transactions on Robotics, 2017, 33(5): 1255-1262.

    [4] [4] ANOOSHEH A, SATTLER T, TIMOFTE R, et al. Night-to-day image translation for retrieval-based localization[C]//2019 International Conference on Robotics and Automation (ICRA). Montreal, QC, Canada: IEEE,2019: 5958-5964.

    [5] [5] DUB R, DUGAS D, STUMM E, et al. SegMatch: Segment based place recognition in 3D point clouds[C]//2017 IEEE International Conference on Robotics and Automation. Singapore: IEEE,2017: 5266-5272.

    [6] [6] RIZZINI D L. Place recognition of 3D landmarks based on geometric relations[C]//2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Vancouver, BC, Canada. IEEE,: 648-654.

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    [8] [8] SHAN T X, ENGLOT B. LeGO-LOAM: lightweight and ground-optimized lidar odometry and mapping on variable terrain[C]//2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Madrid, Spain: IEEE,2018: 4758-4765.

    [9] [9] HIMMELSBACH M, HUNDELSHAUSEN F V, WUENSCHE H J. Fast segmentation of 3D point clouds for ground vehicles[C]//2010 IEEE Intelligent Vehicles Symposium. La Jolla, CA, USA: IEEE,2010: 560-565.

    [10] [10] KIM G, KIM A. Scan context:egocentric spatial descriptor for place recognition within 3D point cloud map[C]//2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Madrid, Spain: IEEE,2018: 4802-4809.

    [11] [11] BELONGIE S, MALIK J, PUZICHA J. Shape matching and object recognition using shape contexts[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence, 2002, 24(4): 509-522.

    [12] [12] ZHANG H, HAN F, WANG H. Robustmultimodal sequence-based loop closure detection via structured sparsity[C]//Robotics: Science and Systems XII. Robotics: Science and Systems Foundation, Ann Arbor, 2016: Ⅻ.043.

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    Li Hong, Huang Yiqing, Lin Lin. Loop Detection Laser SLAM Algorithm Based on Global Descriptor[J]. APPLIED LASER, 2023, 43(1): 84

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    Paper Information

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    Received: Feb. 10, 2022

    Accepted: --

    Published Online: Mar. 30, 2023

    The Author Email: Hong Li (614364979@qq.com)

    DOI:10.14128/j.cnki.al.20234301.084

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