OverlapNet: Loop Closing for LiDAR-based SLAM

05/24/2021
by   Xieyuanli Chen, et al.
0

Simultaneous localization and mapping (SLAM) is a fundamental capability required by most autonomous systems. In this paper, we address the problem of loop closing for SLAM based on 3D laser scans recorded by autonomous cars. Our approach utilizes a deep neural network exploiting different cues generated from LiDAR data for finding loop closures. It estimates an image overlap generalized to range images and provides a relative yaw angle estimate between pairs of scans. Based on such predictions, we tackle loop closure detection and integrate our approach into an existing SLAM system to improve its mapping results. We evaluate our approach on sequences of the KITTI odometry benchmark and the Ford campus dataset. We show that our method can effectively detect loop closures surpassing the detection performance of state-of-the-art methods. To highlight the generalization capabilities of our approach, we evaluate our model on the Ford campus dataset while using only KITTI for training. The experiments show that the learned representation is able to provide reliable loop closure candidates, also in unseen environments.

READ FULL TEXT

page 1

page 4

research
03/07/2022

OverlapTransformer: An Efficient and Rotation-Invariant Transformer Network for LiDAR-Based Place Recognition

Place recognition is an important capability for autonomously navigating...
research
08/15/2022

BoW3D: Bag of Words for Real-time Loop Closing in 3D LiDAR SLAM

Loop closing is a fundamental part of simultaneous localization and mapp...
research
02/27/2023

GeoLCR: Attention-based Geometric Loop Closure and Registration

We present a novel algorithm for learning-based loop-closure for SLAM (s...
research
09/18/2022

HGI-SLAM: Loop Closure With Human and Geometric Importance Features

We present Human and Geometric Importance SLAM (HGI-SLAM), a novel appro...
research
03/08/2021

LCDNet: Deep Loop Closure Detection for LiDAR SLAM based on Unbalanced Optimal Transport

Loop closure detection is an essential component of Simultaneous Localiz...
research
09/15/2023

Fast and Accurate Deep Loop Closing and Relocalization for Reliable LiDAR SLAM

Loop closing and relocalization are crucial techniques to establish reli...
research
03/11/2021

Have I been here before? Learning to Close the Loop with LiDAR Data in Graph-Based SLAM

This work presents an extension of graph-based SLAM methods to exploit t...

Please sign up or login with your details

Forgot password? Click here to reset