Author

Wenguang Wang

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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