Robust Place Recognition using an Imaging Lidar
Tixiao Shan Brendan Englot Fábio Duarte Carlo Ratti Daniela Rus Tixiao Shan Brendan Englot Fábio Duarte Carlo Ratti Daniela Rus
We propose a methodology for robust, real-time place recognition using an imaging lidar, which yields image-quality high-resolution 3D point clouds. Utilizing the intensity readings of an imaging lidar, we project the point cloud and obtain an intensity image. ORB feature descriptors are extracted from the image and encoded into a bag-of-words vector. The vector, used to identify the point cloud, ...