In a full SLAM method, loop-closure detection is an important step to trigger the backend optimization procedure to correct the already estimated pose and maps. To apply the LiDAR Iris to detect loops, we obtain a binary feature map with LiDAR-Iris representation for each image.
Dec 9, 2019 · Our LiDAR-Iris method can achieve a pose-invariant loop-closure detection at a descriptor level with the Fourier transform of the LiDAR-Iris ...
LiDAR Iris for Loop-Closure Detection. Our reimplemented c++ code for our IROS2020 paper "LiDAR Iris for Loop-Closure Detection".
The proposed LiDAR Iris method can achieve a pose-invariant loop-closure detection at a descriptor level with the Fourier transform of the LiDar-Iris ...
LiDAR Iris for Loop-Closure Detection | Request PDF - ResearchGate
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2020 IEEE. In this paper, a global descriptor for a LiDAR point cloud, called LiDAR Iris, is proposed for fast and accurate loop-closure detection.
Detect loop closures in the map by using the detectLoopClosure function. The function searches the map for a previous scan matching the most recent scan. For ...
Missing: Iris | Show results with:Iris
This paper proposes a fast and compact loop closure detection method (FastLCD) based on comprehensive descriptors and machine learning to achieve reliable and ...
In this paper, a global descriptor for a LiDAR point cloud, called LiDAR Iris, is proposed for fast and accurate loop-closure detection. Paper · Add Code ...
Aug 2, 2023 · The loop closure detection adopts the IRIS descriptor, which is rotationally invariant and provides richer map information, enabling faster and ...
In this paper, we propose a new LiDAR LCD method, PC-IDN, based on a novel descriptor called Projection Context (PC), and an efficient data structure named ...