Appearance-Based Loop Detection from 3D Laser Data Using the Normal Distributions Transform

被引：0
|
作者：
Magnusson, Martin [1 ]
Andreasson, Henrik [1 ]
Nuechter, Andreas [2 ]
Lilienthal, Achim J. [1 ]
机构：
[1] Univ Orebro, AASS, Orebro, Sweden
[2] Jacobs Univ Bremen, D-28759 Bremen, Germany
来源：
ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7 | 2009年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
We propose a new approach to appearance based loop detection from metric 3D maps, exploiting the NDT surface representation. Locations are described with feature histograms based on surface orientation and smoothness, and loop closure can be detected by matching feature histograms. We also present a quantitative performance evaluation using two real-world data sets, showing that the proposed method works well in different environments.
引用
收藏
页码：3364 / +
页数：2
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