Appearance-Based Place Recognition from 3D Laser Data Using the Normal Distributions Transform
نویسندگان
چکیده
We propose a new approach to appearance based place recognition 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 real-world data sets, one of which is highly self-similar, showing that the proposed method works well in different environments.
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