Habich, Tim-Lukas; Stuede, Marvin; Labbé, Mathieu; Spindeldreier, Svenja
(Piscataway, NJ : IEEE, 2021-08-24)
This work presents an extension of graph-based SLAM methods to exploit the potential of 3D laser scans for loop detection. Every high-dimensional point cloud is replaced by a compact global descriptor, whereby a trained ...