Locus: LiDAR-based Place Recognition using Spatiotemporal Higher-Order Pooling
2021 IEEE International Conference on Robotics and Automation (ICRA)(2021)
摘要
Place Recognition enables the estimation of a globally consistent map and trajectory by providing non-local constraints in Simultaneous Localisation and Mapping (SLAM). This paper presents Locus, a novel place recognition method using 3D LiDAR point clouds in large-scale environments. We propose a method for extracting and encoding topological and temporal information related to components in a sc...
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关键词
Three-dimensional displays,Laser radar,Simultaneous localization and mapping,Estimation,Transforms,Feature extraction,Robustness
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