When-to-Loop: Enhanced Loop Closure for LiDAR SLAM in Urban Environments Based on SCAN CONTEXT

Global Navigation Satellite Systems (GNSSs) frequently encounter challenges in providing reliable navigation and positioning within urban canyons due to signal obstruction. Micro-Electro-Mechanical System (MEMS) Inertial Measurement Units (IMUs) offers an alternative for autonomous navigation, but t...

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Autores principales:	Xu Xu, Lianwu Guan, Jianhui Zeng, Yunlong Sun, Yanbin Gao, Qiang Li
Formato:	Artigo
Lenguaje:	Inglês
Publicado:	MDPI AG 2024-09-01
Colección:	Micromachines
Materias:	MEMS LiDAR odometry and mapping loop closure enhancement urban environments
Acceso en línea:	https://www.mdpi.com/2072-666X/15/10/1212
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