基于全局特征描述子的激光SLAM回环检测方法 |
韩超, 陈敏, 黄宇昊, 赵明辉, 杜乾坤, 梁庆华 |
Loop Closure Detection Method of Laser SLAM Based on Global Feature Descriptor |
HAN Chao, CHEN Min, HUANG Yuhao, ZHAO Minghui, DU Qiankun, LIANG Qinhua |
图4 边角特征和平面特征点云配准 |
Fig.4 Registration of edge features and plane features |