Description
When a robot returns to its start, drift makes the SLAM map misalign; the key is recognizing a place it has seen. OverlapNet from the University of Bonn is a deep network for loop closing in 3D LiDAR SLAM that estimates overlap and relative yaw between scans.
It improves LiDAR SLAM loop closure, published at RSS 2020.
Loop closure:Revisited places.
Overlap:Scan similarity.
Yaw:Relative heading.
It improves LiDAR SLAM loop closure, published at RSS 2020.
Features
Loop closure:Revisited places.
Overlap:Scan similarity.
Yaw:Relative heading.
