Three-Dimensional Lidar Localization and Mapping with Loop-Closure Detection Based on Dense Depth Information
This paper presents a novel lidar SLAM system for localizing a mobile robot to build a map of the environment. To identify the unknown transform matrix, we design a new scan-matching approach, in which a point cloud segmentation algorithm is additionally integrated. Different from the traditional no...
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| Autori principali: | , , , |
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| Natura: | Artigo |
| Lingua: | Inglês |
| Pubblicazione: |
MDPI AG
2023-05-01
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| Serie: | Mathematics |
| Soggetti: | |
| Accesso online: | https://www.mdpi.com/2227-7390/11/9/2211 |
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