Martin Magnusson, Henrik Andreasson, Andreas Nüchter, Achim J. Lilienthal
Appearance-Based Loop Detection from 3D Laser Data Using the Normal Distributions Transform
Proc. of IEEE Int. Conf. on Robotics and Automation (ICRA), 2009, pp. 23-28
Abstract: We propose a new approach to appearance based loop detection from metric 3D maps, exploiting the NDT surface representation. Locations are described with feature histograms based on surface orientation and smoothness, and loop closure can be detected by matching feature histograms. We also present a quantitative performance evaluation using two real-world data sets, showing that the proposed method works well in different environments.
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Bibtex:
@INPROCEEDINGS{Magnusson_etal:ICRA:2009b,
  AUTHOR = {Martin Magnusson and Henrik Andreasson and Andreas N{\"u}chter and Achim J. Lilienthal},
  TITLE = {Appearance-Based Loop Detection from 3D Laser Data Using the Normal Distributions Transform},
  BOOKTITLE = {Proc. IEEE Int. Conf. on Robotics and Automation},
  YEAR = {2009},
  PAGES = {23--28}
}