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In this paper, we present a novel global descriptor M2DP for 3D point clouds, and apply it to the problem of loop closure detection. In M2DP, we project a 3D point cloud to multiple 2D planes and generate a density signature for points for each of the planes. We then use the left and right singular vectors of these signatures as the descriptor of the 3D point cloud. Our experimental results show that...
We present the performance evaluation of different whole-image descriptors in visual loop closure detection. A whole-image descriptor here is defined as the one that does not require keypoint detection and is therefore fast to extract. In addition, it can be extremely compact to reduce storage requirement. This type of image descriptors are attracting an increasing amount of interest in appearance-based...
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