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Vehicle detection and tracking is a core ingredient for developing autonomous driving applications in urban scenarios. Recent image-based Deep Learning (DL) techniques are obtaining breakthrough results in these perceptive tasks. However, DL research has not yet advanced much towards processing 3D point clouds from lidar range-finders. These sensors are very common in autonomous vehicles since, despite...
We address in this letter the problem of loop closure detection for laser-based simultaneous localization and mapping (SLAM) of very large areas. Consistent with the state of the art, the map is encoded as a graph of poses, and to cope with very large mapping capabilities, loop closures are asserted by comparing the features extracted from a query laser scan against a previously acquired corpus of...
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