Nakul S. Joshi

PinNet: Keypoint-Aware Learned Local Descriptors with Geometric Embedding for Loop Closure in LiDAR SLAM

Yanlong Ma, Nakul S. Joshi, Christa S. Robison, Philip R. Osteen, Brett T. Lopez

Loop closure is essential to reduce drift and build globally consistent maps in large-scale environments. However, reliable loop closure with only geometric information from, e.g., a LiDAR sensor, remains challenging due to the difficulty of constructing discriminative geometric…Read more