TY - GEN
T1 - Appearance-based loop detection from 3D laser data using the normal distributions transform
AU - Magnusson, Martin
AU - Andreasson, Henrik
AU - Nüchter, Andreas
AU - Lilienthal, Achim J.
PY - 2009
Y1 - 2009
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=70350349701&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2009.5152712
DO - 10.1109/ROBOT.2009.5152712
M3 - Conference contribution
AN - SCOPUS:70350349701
SN - 9781424427895
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 23
EP - 28
BT - 2009 IEEE International Conference on Robotics and Automation, ICRA '09
T2 - 2009 IEEE International Conference on Robotics and Automation, ICRA '09
Y2 - 12 May 2009 through 17 May 2009
ER -