Online LiDAR-SLAM for Legged Robots with Robust Registration and Deep-Learned Loop Closure

Milad Ramezani, Georgi Tinchev, Egor Iuganov +1

In this paper, we present a factor-graph LiDAR-SLAM system which incorporates a state-of-the-art deeply learned feature-based loop closure detector to enable a legged robot to loca…