基于特征几何关系的无人车轨迹回环检测

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康俊民, 赵祥模, 徐志刚

Loop Closure Detection of Unmanned Vehicle Trajectory Based on Geometric Relationship Between Features

KANG Jun-min, ZHAO Xiang-mo, XU Zhi-gang

中国公路学报 . 2017, (1): 121 -128,135 .