Quatro++: Robust Global Registration Exploiting Ground Segmentation for Loop Closing in LiDAR SLAM

Global registration is a fundamental task that estimates the relative pose between two viewpoints of 3D point clouds. However, there are two issues that degrade the performance of global registration in LiDAR SLAM: one is the sparsity issue and the other is degeneracy. The sparsity issue is caused b...

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Hauptverfasser:	Lim, Hyungtae, Kim, Beomsoo, Kim, Daebeom, Lee, Eungchang Mason, Myung, Hyun
Format:	Artikel
Sprache:	eng
Schlagworte:	Computer Science - Robotics
Online-Zugang:	Volltext bestellen
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