VS-SLAM: Robust SLAM Based on LiDAR Loop Closure Detection with Virtual Descriptors and Selective Memory Storage in Challenging Environments

VS-SLAM: Robust SLAM Based on LiDAR Loop Closure Detection with Virtual Descriptors and Selective Memory Storage in Challenging Environments

LiDAR loop closure detection is a key technology to mitigate localization drift in LiDAR SLAM, but it remains challenging in structurally similar environments and memory-constrained platforms. This paper proposes VS-SLAM, a novel and robust SLAM system that leverages virtual descriptors and selectiv...

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Bibliographic Details
Main Authors: Zhixing Song, Xuebo Zhang, Shiyong Zhang, Songyang Wu, Youwei Wang
Format: Article
Language:English
Published: MDPI AG 2025-03-01
Series:Actuators
Subjects:
LiDAR simultaneous localization and mapping (SLAM)
loop closure detection
scene recognition
virtual descriptor
robot navigation
sensor fusion
Online Access:https://www.mdpi.com/2076-0825/14/3/132
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