Abstract
3D Loop Closure Detection (LCD) is a crucial technique for robotics, which can correct accumulated errors after long time exploration. Existing 3D LCD methods have been designed for mechanical LiDAR, limiting their performance for various solid-state LiDARs. In this paper, we propose a new LiDAR LCD method, PC-IDN, based on a novel descriptor called Projection Context (PC), and an efficient data structure named Incremental Dynamic Nodes (IDN). The PC considers side-view and describes scenes by leveraging distance and intensity values of the point clouds. Subsequently, the PC descriptors are collected in corresponding nodes for candidate scans selection. To ensure real-time performance, the IDN module dynamically adjusts the visited PCs in the database. The results demonstrate that our method is able to achieve better precision–recall and efficiency performance than existing 3D LCD methods.
Published Version
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