Loop closure detection in SLAM by combining visual and spatial appearance
نویسندگان
چکیده
منابع مشابه
Combining Odometry and Visual Loop-Closure Detection for Consistent Topo-Metrical Mapping
We address the problem of simultaneous localization and mapping (SLAM) by combining visual loop-closure detection with metrical information given by a robot odometry. The proposed algorithm extends a purely appearance-based loopclosure detection method based on bags of visual words [1] which is able to detect when the robot has returned back to a previously visited place. An efficient optimizat...
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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...
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A kind of multi feature points matching algorithm fusing local geometric constraints is proposed for the purpose of quickly loop closing detection in RGB-D Simultaneous Localization and Mapping (SLAM). The visual feature is encoded with BRAND (binary robust appearance and normals descriptor), which efficiently combines appearance and geometric shape information from RGB-D images. Furthermore, t...
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Title : Visual SLAM applications of loop-closure detection Loop-closure detection is crucial for enhancing the robustness of SLAM algorithms in general. For example, after a long travel in unknown terrain, detecting when the robot has returned to a past location makes it possible to increase the accuracy and the consistency of the estimation. Recognizing previously mapped locations can also be ...
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ورودعنوان ژورنال:
- Robotics and Autonomous Systems
دوره 54 شماره
صفحات -
تاریخ انتشار 2006