Ground-optimized SLAM with Hierarchical Loop Closure Detection in Large-scale Environment

Computer Science

• path-planning 100%
• Dynamic Environment 100%
• Autonomous Driving 100%
• False Negative 100%
• Marking Algorithm 100%
• Back End 100%
• Vertical Direction 100%
• Experimental Result 100%
• Detection Method 100%

Keyphrases

• Loop Closure Detection 100%
• LiDAR 100%
• Large-scale Environment 100%
• Detection Method 66%
• Accumulative Error 66%
• Accurate Localization 66%
• Path Planning 33%
• Autonomous Driving 33%
• Loop Closure 33%
• Invalid 33%
• Tightly Coupled 33%
• View-invariant 33%
• Reliable Mapping 33%
• Marking Algorithm 33%
• Radius Search 33%
• Complex Dynamic Environment 33%
• Back-end Optimization 33%
• Ground Constraints 33%