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 realworld data sets, showing that the proposed method works well in different environments.
Magnusson et al. REF proposed an appearance based loop detection method using NDT surface representation.
Appearance-based loop detection from 3D laser data using the normal distributions transform
2009 IEEE International Conference on Robotics and Automation
2009 IEEE International Conference on Robotics and Automation
Mathematics Computer Science