SA-LOAM: Semantic-aided LiDAR SLAM with Loop Closure
Lin Li Xin Kong Xiangrui Zhao Wanlong Li Feng Wen Hongbo Zhang Yong Liu Lin Li Xin Kong Xiangrui Zhao Wanlong Li Feng Wen Hongbo Zhang Yong Liu
LiDAR-based SLAM system is admittedly more accurate and stable than others, while its loop closure detection is still an open issue. With the development of 3D semantic segmentation for point cloud, semantic information can be obtained conveniently and steadily, essential for high-level intelligence and conductive to SLAM. In this paper, we present a novel semantic-aided LiDAR SLAM with loop closu...