NDT-Map-Code: A 3D global descriptor for real-time loop closure detection in lidar SLAM

• Main Authors: Liao, Lizhou, Yan, Wenlei, Sun, Li, Bai, Xinhui, You, Zhenxing, Yuan, Hongyuan, Fu, Chunyun
• Format: Journal Article
• Language: English
• Published: 16.07.2023
• Subjects: Computer Science - Robotics

Loop-closure detection, also known as place recognition, aiming to identify previously visited locations, is an essential component of a SLAM system. Existing research on lidar-based loop closure heavily relies on dense point cloud and 360 FOV lidars. This paper proposes an out-of-the-box NDT (Norma...