Loop Closure via Maximal Cliques in 3D LiDAR-Based SLAM
Reliable loop closure detection remains a critical challenge in 3D LiDAR-based SLAM, especially under sensor noise, environmental ambiguity, and viewpoint variation conditions. RANSAC is often used in the context of loop closures for geometric model fitting in the presence of outliers. However, this approach may fail, leading to map inconsistency. We introduce a novel deterministic algorithm, CliReg, for loop closure validation that replaces RANSAC verification with a maximal clique search over a compatibility graph of feature correspondences. This formulation avoids random sampling and increases robustness in the presence of noise and outliers. We integrated our approach into a real- tim...
| Authors | Javier Laserna, Saurabh Gupta, Oscar Martinez Mozos et al. |
|---|---|
| Primary category | cs.RO |
| Published | 5 March 2026 |
| Last updated at source | 5 March 2026 |
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