Appearance-based loop closure detection combining lines and learned points for low-textured environments

Combining Visual and Spatial Appearance for Loop Closure Detection in SLAM

In this paper we describe a system for use on a mobile robot that detects potential loop closures using both the visual and spatial appearance of the local scene. Loop closing is the act of correctly asserting that a vehicle has returned to a previously visited location. It is an important component in the search to make SLAM (Simultaneous Localization and Mapping) the reliable technology it sh...

Loop closure detection in SLAM by combining visual and spatial appearance

Loop Closure Detection on a Suburban Road Network using a Continuous Appearance-based Trajectory

This paper presents a novel technique for performing SLAM along a continuous trajectory of appearance. Derived from components of FastSLAM and FAB-MAP, the new system dubbed Continuous Appearance-based Trajectory SLAM (CAT-SLAM) augments appearancebased place recognition with particle-filter based ‘pose filtering’ within a probabilistic framework, without calculating global feature geometry or ...

iBoW-LCD: An Appearance-based Loop Closure Detection Approach using Incremental Bags of Binary Words

In this paper, we introduce iBoW-LCD, a novel appearance-based loop closure detection method. The presented approach makes use of an incremental Bag-of-Words (BoW) scheme based on binary descriptors to retrieve previously seen similar images, avoiding any vocabulary training stage usually required by classic BoW models. In addition, to detect loop closures, iBoW-LCD builds on the concept of dyn...

Face Detection at the Low Light Environments

Today, with the advancement of technology, the use of tools for extracting information from video are much wider in terms of both visual power and the processing power. High-speed car, perfect detection accuracy, business diversity in the fields of medical, home appliances, smart cars, humanoid robots, military systems and the commercialization makes these systems cost effective. Among the most...