Open access
Jul 2026
KPS: The Key Plane Structure for loop closure detection in indoor LiDAR SLAM
This paper proposes a loop closure detection method based on Key Plane Structures (KPS), which exploits the geometric stability of indoor plane structures to construct invariant global descriptors and provides more reliable loop closure constraints for pose graph optimization.
Men Sha, Wenguang Wang, Chang-Shun Yuan et al.
· Engineering Research Express · 0 citations