Loop closure detection (LCD) is an important and challenging task in simultaneous localization and mapping (SLAM). To improve the efficiency and accuracy of an indoor LiDAR LCD, a geometric feature-based method is proposed. First, the rotation invariance of the keyframe pair to be detected is realized by the Fourier transform. Second, the main features of the keyframe are extracted and fitted into geometric features, which are stored in a ring-shaped semantic image. Third, the similarity score of the two keyframes is obtained by calculating the distance between two corresponding ring semantic images, which is verified by the ICP algorithm. The experimental result shows that the time cost of each detection is reduced to less than 30ms without sacrificing the detection precision by using our suggested method.
Access to the requested content is limited to institutions that have purchased or subscribe to SPIE eBooks.
You are receiving this notice because your organization may not have SPIE eBooks access.*
*Shibboleth/Open Athens users─please
sign in
to access your institution's subscriptions.
To obtain this item, you may purchase the complete book in print or electronic format on
SPIE.org.
INSTITUTIONAL Select your institution to access the SPIE Digital Library.
PERSONAL Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.