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Integrating Intensity Information for Three-stage Lidar Loop Closure Detection

Published: 28 June 2024 Publication History

Abstract

Mainstream loop closure detection based on geometric descriptors struggles to guarantee high detection accuracy in complex environments and requires significant computational resources. To enhance the accuracy of loop closure detection while reducing computational overhead, this paper fully leverages the geometric and dense intensity features obtained from lidar scans to develop a global descriptor that effectively captures the geometric and intensity structures of the environment. An efficient three-stage hierarchical retrieval strategy is employed, including K-Nearest Neighbor search constraints within the ikd-tree and fast geometric and intensity structure reidentification through binary operations. All constraints are globally optimized using factor graphs. The proposed method is evaluated on publicly available datasets, and the results demonstrate that our approach achieves higher trajectory accuracy.

References

[1]
This work has been supported by the National Natural Science Foundation of China (62171328, 62072350), the Central Government Guides Local Science and Technology Development Special Projects (ZYYD2022000021), the Open and Innovation Fund of Hubei Three Gorges Laboratory (SC215002), the Graduate Innovative Fund of Wuhan Institute of Technology (CX2022358).
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  1. Integrating Intensity Information for Three-stage Lidar Loop Closure Detection

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    ICRSA '23: Proceedings of the 2023 6th International Conference on Robot Systems and Applications
    September 2023
    335 pages
    ISBN:9798400708039
    DOI:10.1145/3655532
    Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than the author(s) must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected].

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    Published: 28 June 2024

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    Author Tags

    1. Factor Graph Optimization
    2. Loop Closure Detection
    3. SLAM

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