A signed-distance-function representation of 2D lidar submaps, with keypoints and descriptors extracted from free space, improves place recognition recall over a Shape Context baseline.
Kinectfusion: real-time 3d reconstruction and interaction using a moving depth camera,
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Free-Space Features: Global Localization in 2D Laser SLAM Using Distance Function Maps
A signed-distance-function representation of 2D lidar submaps, with keypoints and descriptors extracted from free space, improves place recognition recall over a Shape Context baseline.