Intensity Scan Context: Coding Intensity and Geometry Relations for Loop Closure Detection

By Han Wang, Chen Wang, Lihua Xie. IEEE International Conference on Robotics and Automation, 2020

297 citations recorded by the source corpus.

Loop closure detection is an essential and challenging problem in simultaneous localization and mapping (SLAM). It is often tackled with light detection and ranging (LiDAR) sensor due to its view-point and illumination invariant properties. Existing works on 3D loop closure detection often leverage on matching of local or global geometrical-only descriptors which discard intensity reading. In this paper we explore the intensity property from LiDAR scan and show that it can be effective for place recognition. We propose a novel global descriptor, intensity scan context (ISC), that explores both geometry and intensity characteristics. To improve the efficiency for loop closure detection, an efficient two-stage hierarchical re-identification process is proposed, including binary-operation based fast geometric relation retrieval and intensity structure re-identification. Thorough experiments including both local experiment and public datasets test have been conducted to evaluate the performance of the proposed method. Our method achieves better recall rate and recall precision than existing geometric-only methods.

Subfields: Aerospace Engineering, Computer Vision and Pattern Recognition, Geology

View Paper: https://www.semanticscholar.org/paper/4b89da8d788bb484c9c151ccecba9b5610c557af

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In Aerospace Engineering

  1. Sunwook Choi
  2. Giseop Kim
  3. Ayoung Kim

In Computer Vision and Pattern Recognition

  1. Sunwook Choi
  2. Ayoung Kim
  3. Giseop Kim

In Geology

  1. Sunwook Choi
  2. Giseop Kim
  3. Ayoung Kim

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