Loop closure detection (LCD) can effectively eliminate the cumulative errors in simultaneous localization and mapping (SLAM) by detecting position of a revisit building interframe pose constraint relations. However, real-world natural scenes, driverless ground vehicles or robots usually same place from different position, meaning that descriptor cannot give uniform description similar failing L...

Abstract Hand-crafted point descriptors have been traditionally used for visual loop closure detection. However, in low-textured environments, it is usually difficult to find enough features and, hence, the performance of such algorithms degrade. Under this context, paper proposes a detection method that combines lines and learned points work, particularly, scenarios where hand-crafted fail. To...

 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 ...

It is essential for a robot to be able to detect revisits or loop closures for long-term visual navigation. A key insight explored in this work is that the loop-closing event inherently occurs sparsely, i.e., the image currently being taken matches with only a small subset (if any) of previous images. Based on this observation, we formulate the problem of loop-closure detection as a sparse, con...

It is essential for a robot to be able to detect revisits or loop closures for long-term visual navigation. A key insight is that the loop-closing event inherently occurs sparsely, i.e., the image currently being taken matches with only a small subset (if any) of previous observations. Based on this observation, we formulate the problem of loop-closure detection as a sparse, convex `1-minimizat...

It has been developed a C++ program that generates random fuzzy relations of a given dimension and computes their T-transitive closure (that contains the initial relation) and the new T-transitivized relation (that is contained in the initial relation) for the t-norms minimum, product and Lukasiewicz. It has been computed several distances between both transitive closure and transitivized relat...

Stable feature extraction is the key for the Loop closure detection (LCD) task in the simultaneously localization and mapping (SLAM) framework. In our paper, the feature extraction is operated by using a generative adversarial networks (GANs) based unsupervised learning. GANs are powerful generative models, however, GANs based adversarial learning suffers from training instability. We find that...