• Corpus ID: 140248117

Loop-Closure Detection Based on 3D Point Cloud Learning for Self-Driving Industry Vehicles

  title={Loop-Closure Detection Based on 3D Point Cloud Learning for Self-Driving Industry Vehicles},
  author={Zhe Liu and Chuanzhe Suo and Shunbo Zhou and Wen Chen and Hesheng Wang and Yunhui Liu},
Self-driving industry vehicle plays a key role in the industry automation and contributes to resolve the problems of the shortage and increasing cost in manpower. Place recognition and loop-closure detection are main challenges in the localization and navigation tasks, specially when industry vehicles work in large-scale complex environments, such as the logistics warehouse and the port terminal. In this paper, we resolve the loop-closure detection problem by developing a novel 3D point cloud… 
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