Presentation Details
  1. Home
  2. Presentation List
  3. Presentation Details
A Hybrid Algorithm for Loop Closure Detection in LiDAR SLAM Using Global Point Cloud Density and Local Triangular Features
ID：54 View Protection：ATTENDEE Updated Time：2025-11-10 11:28:03 Hits：164 Oral Presentation

Start Time：2025-11-23 09:50（Asia/Shanghai）

Duration：20min

Session：S1 Parallel Session 1 » S1-2Parallel Session 1-23 AM

No files

Abstract
In Simultaneous Localization and Mapping (SLAM) systems, LiDAR odometry inevitably accumulates drift in pose estimates, leading to significant trajectory deviations and inconsistencies in the global map. Loop closure detection plays a crucial role in mitigating this cumulative error through closed-loop optimization strategies. In this paper, we propose a hybrid algorithm for loop closure detection in LiDAR SLAM that leverages both global point cloud density and local triangular features. Specifically, the algorithm first filters candidate keyframes using a ring descriptor based on global point cloud density, followed by fine-grained triangle matching and geometric verification within each candidate frame to identify the optimal loop closure frame. The proposed method was evaluated on the publicly available Park dataset, with experimental results demonstrating a reduction in the RMSE of trajectory error to 0.051 m, representing a 59% improvement over the original odometry results, and outperforming other benchmark algorithms in terms of trajectory error reduction. Additionally, the precision-recall (PR) curve of the proposed algorithm exhibited the widest coverage, achieving a maximum F1 score of 0.92, thereby outperforming existing mainstream loop closure detection algorithms.
Keywords
Simultaneous Localization and Mapping,loop closure detection,point cloud density,triangular feature
Speaker
Yixiao Chen
Master candidate Southeast University

Submission Author
Yixiao Chen Southeast University
Xuefen Zhu Southeast University
Gangyi Tu Nanjing University of Information Science and Technology
Chuan Zhang Southeast University
Ang Li Southeast University
Submit Comment
Verify Code Change Another
All Comments
Important Date

  • Conference Date

    Nov 21

    2025

    to

    Nov 23

    2025

  • Oct 20 2025

    Draft paper submission deadline

  • Dec 08 2025

    Registration deadline

Sponsored By
IEEE Instrumentation and Measurement Society
South China University of Technology
Organized By
South China University of Technology
Contact Information
Login to view full contact details
Previous Conferences