2020
Online LiDAR-SLAM for Legged Robots with Robust Registration and Deep-Learned Loop Closure
ICRA 2020poster
In this paper, we present a 3D factor-graph LiDAR-SLAM system which incorporates a state-of-the-art deeply learned feature-based loop closure detector to enable a legged robot to localize and map in industrial environments. Point clouds are accumulated using an inertial-kinematic state estimator bef…