Clustering Denoising of 2D LiDAR Scanning in Indoor Environment Based on Keyframe Extraction

In the indoor laser simulation localization and mapping (SLAM) system, the signal emitted by the LiDAR sensor is easily affected by lights and objects with low reflectivity during the transmission process, resulting in more noise points in the laser scan. To solve the above problem, this paper propo...

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Bibliographic Details

Published in:	Sensors
Main Authors:	Weiwei Hu, Keke Zhang, Lihuan Shao, Qinglei Lin, Yongzhu Hua, Jin Qin
Format:	Article
Language:	English
Published:	MDPI AG 2022-12-01
Subjects:	simulation localization and mapping (SLAM) LiDAR clustering noise reduction keyframe extraction
Online Access:	https://www.mdpi.com/1424-8220/23/1/18