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The sparsity issue is caused by the sparse characteristics of the 3D point cloud measurements in a mechanically spinning LiDAR sensor. The degeneracy issue sometimes occurs because the outlier-rejection methods reject too many correspondences, leaving less than three inliers. These two issues have become more severe as the pose discrepancy between the two viewpoints of 3D point clouds becomes greater. To tackle these problems, we propose a robust global registration framework, called Quatro++. Extending our previous work that solely focused on the global registration itself, we address the robust global registration in terms of the loop closing in LiDAR SLAM. To this end, ground segmentation is exploited to achieve robust global registration. Through the experiments, we demonstrate that our proposed method shows a higher success rate than the state-of-the-art global registration methods, overcoming the sparsity and degeneracy issues. In addition, we show that ground segmentation significantly helps to increase the success rate for the ground vehicles. Finally, we apply our proposed method to the loop closing module in LiDAR SLAM and confirm that the quality of the loop constraints is improved, showing more precise mapping results. Therefore, the experimental evidence corroborated the suitability of our method as an initial alignment in the loop closing. Our code is available at https:\/\/quatro-plusplus.github.io .<\/jats:p>","DOI":"10.1177\/02783649231207654","type":"journal-article","created":{"date-parts":[[2023,11,2]],"date-time":"2023-11-02T10:34:24Z","timestamp":1698921264000},"page":"685-715","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":41,"title":["Quatro++: Robust global registration exploiting ground segmentation for loop closing in LiDAR SLAM"],"prefix":"10.1177","volume":"43","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-7185-4666","authenticated-orcid":false,"given":"Hyungtae","family":"Lim","sequence":"first","affiliation":[{"name":"School of Electrical Engineering, KAIST (Korea Advanced Institute of Science and Technology), Daejeon, Republic of Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Beomsoo","family":"Kim","sequence":"additional","affiliation":[{"name":"Department of Artificial Intelligence, Hanyang University, Seoul, Republic of Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Daebeom","family":"Kim","sequence":"additional","affiliation":[{"name":"Robotics Program, KAIST, Daejeon, Republic of Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Eungchang","family":"Mason Lee","sequence":"additional","affiliation":[{"name":"School of Electrical Engineering, KAIST (Korea Advanced Institute of Science and Technology), Daejeon, Republic of Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hyun","family":"Myung","sequence":"additional","affiliation":[{"name":"School of Electrical Engineering, KAIST (Korea Advanced Institute of Science and Technology), Daejeon, Republic of Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2023,11,2]]},"reference":[{"key":"bibr1-02783649231207654","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2012.2206675"},{"key":"bibr2-02783649231207654","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR46437.2021.01158"},{"key":"bibr3-02783649231207654","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.1987.4767965"},{"key":"bibr4-02783649231207654","doi-asserted-by":"publisher","DOI":"10.1007\/BFb0054772"},{"key":"bibr5-02783649231207654","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR46437.2021.01560"},{"key":"bibr6-02783649231207654","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2018.XIV.016"},{"key":"bibr7-02783649231207654","doi-asserted-by":"publisher","DOI":"10.1109\/34.993558"},{"key":"bibr8-02783649231207654","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3052418"},{"key":"bibr9-02783649231207654","unstructured":"Besl PJ, McKay ND (1992) Method for registration of 3D shapes. 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