A Precise and Real-Time Loop-closure Detection for SLAM Using the RSOM Tree

CNN Feature boosted SeqSLAM for Real-Time Loop Closure Detection

Loop closure detection (LCD) is an indispensable part of simultaneous localization and mapping systems (SLAM); it enables robots to produce a consistent map by recognizing previously visited places. When robots operate over extended periods, robustness to viewpoint and condition changes as well as satisfactory real-time performance become essential requirements for a practical LCD system. This ...

Tree of Words for Visual Loop Closure Detection in Urban SLAM

This paper introduces vision based loop closure detection in Simultaneous Localisation And Mapping (SLAM) using Tree of Words. The loop closure performance in a complex urban environment is examined and an additional feature is suggested for safer matching. A SLAM ground experiment in an urban area is performed using Tree of Words, a delayed state information filter and planar laser scans for r...

Robust Relocalization Based on Active Loop Closure for Real-Time Monocular SLAM

Real-Time Interference Detection in Tracking Loop of GPS Receiver

Global Positioning System (GPS) spoofing could pose a major threat for GPS navigation ‎systems, so the GPS users have to gain a better understanding of the broader implications of ‎GPS.‎ In this paper, a plenary anti-spoofing approach based on correlation is proposed to distinguish spoofing effects. The suggested ‎method can be easily implemented in tracking loop of GPS receiver...

Unified Loop Closing and Recovery for Real Time Monocular SLAM

We present a unified method for recovering from tracking failure and closing loops in real time monocular simultaneous localisation and mapping. Within a graph-based map representation, we show that recovery and loop closing both reduce to the creation of a graph edge. We describe and implement a bag-of-words appearance model for ranking potential loop closures, and a robust method for using bo...