3 accepted papers
Although the LiDAR SLAM technique has been already widely deployed on various robots, it may still suffers from degeneracy caused by inadequate constraints in scenes with sparse geometric features. If the degeneracy is not detected and properly processed, the accuracy of localization and mapping wil
Loop closure detection is a key technology for long-term robot navigation in complex environments. In this paper, we present a global descriptor, named Normal Distribution Descriptor (NDD), for 3D point cloud loop closure detection. The descriptor encodes both the probability density score and entro…
Recent works on semantic Simultaneous Localization and Mapping (SLAM) utilizing object landmarks have shown superiority in terms of robustness and accuracy in tracking and localization. 3D object landmarks represented by a cubic or quadric surface are inferred from 2D object bounding boxes which are…