Automatic appearance-based loop detection from three-dimensional laser data using the normal distributions transform
نویسندگان
چکیده
منابع مشابه
Automatic appearance-based loop detection from three-dimensional laser data using the normal distributions transform
We propose a new approach to appearance-based loop detection for mobile robots, using three-dimensional (3D) laser scans. Loop detection is an important problem in the simultaneous localization and mapping (SLAM) domain, and, because it can be seen as the problem of recognizing previously visited places, it is an example of the data association problem. Without a flat-floor assumption, two-dime...
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We propose a new approach to appearance-based loop detection for mobile robots, using 3D laser scans. Loop detection is an important problem in the SLAM domain, and, because it can be seen as the problem of recognizing previously visited places, it is an example of the data association problem. Without a flat floor assumption, 2D laser-based approaches are bound to fail in many cases. Two of th...
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ژورنال
عنوان ژورنال: Journal of Field Robotics
سال: 2009
ISSN: 1556-4959
DOI: 10.1002/rob.20314