A Multi-Channel Descriptor for LiDAR-Based Loop Closure Detection and Its Application

Simultaneous localization and mapping (SLAM) algorithm is a prerequisite for unmanned ground vehicle (UGV) localization, path planning, and navigation, which includes two essential components: frontend odometry and backend optimization. Frontend odometry tends to amplify the cumulative error continu...

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Bibliographic Details

Published in:	Remote Sensing
Main Authors:	Gang Wang, Xiaomeng Wei, Yu Chen, Tongzhou Zhang, Minghui Hou, Zhaohan Liu
Format:	Article
Language:	English
Published:	MDPI AG 2022-11-01
Subjects:	autonomous driving unmanned ground vehicle LiDAR simultaneous localization and mapping loop closure detection
Online Access:	https://www.mdpi.com/2072-4292/14/22/5877