Name
Abstract | ||
|---|---|---|
The loop closure problem in 2D LiDAR simultaneous localization and mapping (SLAM) is interesting yet to be solved efficiently, as it suffers from a lack of information in 2D laser rangefinder readings. For this reason, we compare two grid submaps, where features and constraints are enriched, to find loops. We propose a geometric environment descriptor called a Triangle Feature (TF). It exploits the Euclidean distance constraint any three feature points in a submap can form. A 2D graph SLAM system using TF to close loops is also developed. The global maps we build outperform some popular open-source SLAM solutions, and the system can run up to 2.4 times of real-time in our experiments. |
Year | DOI | Venue |
|---|---|---|
2019 | 10.1109/ROBIO49542.2019.8961777 | ROBIO |
Field | DocType | Citations |
Graph,Closure problem,Control theory,Euclidean distance,Algorithm,Lidar,Feature based,Engineering,Simultaneous localization and mapping,Grid,Map matching | Conference | 0 |
PageRank | References | Authors |
0.34 | 0 | 3 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Binqian Jiang | 1 | 0 | 0.34 |
| Yilong Zhu | 2 | 6 | 6.16 |
| Ming Liu | 3 | 775 | 94.83 |