Loop Closure Detection (LCD) is the essential module in the simultaneous localization and mapping (SLAM) task. In the current appearance-based SLAM methods, the visual inputs are usually affected by illumination, appearance and viewpoints changes. Comparing to the visual inputs, with the active property, light detection and ranging (LiDAR) based point-cloud inputs are invariant to the illuminat...

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 ...

Loop closure detection systems for monocular SLAM come in three broad categories: (i) map-to-map, (ii) image-to-image and (iii) image-to-map. In this paper, we have chosen an implementation of each and performed experiments allowing the three approaches to be compared. The sequences used include both indoor and outdoor environments and single and multiple loop trajectories. © 2009 Elsevier B.V....

Improving the rapidity of 3D reconstruction is vital for time-critical construction tasks such as progress monitoring and hazard detection, but majority studies in this area have focused on improving its quality. We applied a Direct Sparse Odometry with Loop Closure (LDSO)-based method, existing algorithm tuning hyper-parameter settings, to achieve both near real-time operation quality point cl...

Despite signi cant developments in the Simultaneous Localisation and Mapping (slam) problem, loop closure detection is still challenging in large scale unstructured environments. Current solutions rely on heuristics that lack generalisation properties, in particular when range sensors are the only source of information about the robot's surrounding environment. This paper presents a machine lea...

abstract background: the loop colostomy is one of the most popular techniques used as a protective maneuver for a distal anastomosis and/or temporary fecal diversion. we are introducing the use of a full thickness skin bridge under the large bowel instead of a glass rod which alleviates problems such as protrusion of the large bowel, retraction of the bowel into the abdomen after removing the r...

The problem of tripeptide loop closure is formulated in terms of the angles { i}i 1 3 describing the orientation of each peptide unit about the virtual axis joining the C atoms. Imposing the constraint that at the junction of two such units the bond angle between the bonds C ON and C OC is fixed at some prescribed value results in a system of three bivariate polynomials in ui : tan i/2 of degre...

Simultaneous localization and mapping (SLAM) algorithm is a prerequisite for unmanned ground vehicle (UGV) localization, path planning, navigation, which includes two essential components: frontend odometry backend optimization. Frontend tends to amplify the cumulative error continuously, leading ghosting drifting on results. However, loop closure detection (LCD) can be used address this techni...