2 papers
cs.RO2026
PinNet: Keypoint-Aware Learned Local Descriptors with Geometric Embedding for Loop Closure in LiDAR SLAM
Yanlong Ma, Nakul S. Joshi, Christa S. Robison +2
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.,…
cs.RO2025
Geometric Multi-Session Map Merging with Learned Local Descriptors
Yanlong Ma, Nakul S. Joshi, Christa S. Robison +2
Multi-session map merging is crucial for extended autonomous operations in large-scale environments. In this paper, we present GMLD, a learning-based local descriptor framework for…