Robust Photogeometric Localization Over Time for Map-Centric Loop Closure

Robust Loop Closing Over Time

Long term autonomy in robots requires the ability to reconsider previously taken decisions when new evidence becomes available. Loop closing links generated by a place recognition system may become inconsistent as additional evidence arrives. This paper is concerned with the detection and exclusion of such contradictory information from the map being built, in order to recover the correct map e...

Robust loop closing over time for pose graph SLAM

Long term autonomous mobile robot operation requires considering place recognition decisions with great caution. A single incorrect decision that is not detected and reconsidered can corrupt the environment model that the robot is trying to build and maintain. This work describes a consensus-based approach to robust place recognition over time, that takes into account all the available informat...

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

Online loop closure for real-time interactive 3D scanning

We present a real-time interactive 3D scanning system that allows users to scan complete object geometry by turning the object around in front of a real-time 3D range scanner. The incoming 3D surface patches are registered and integrated into an online 3D point cloud. In contrast to previous systems the online reconstructed 3Dmodel also serves as final result. Registration error accumulation wh...

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 ...