Yanyang Ma

GOSMatch: Graph-of-Semantics Matching for Detecting Loop Closures in 3D LiDAR data

Detecting loop closures in 3D Light Detection and Ranging (LiDAR) data is a challenging task since point-level methods always suffer from instability. This paper presents a semantic-level approach named GOSMatch to perform reliable place recognition. Our method leverages novel descriptors, which are…