Loop closure can effectively correct the accumulated error in robot localization, which plays a critical role long-term navigation of robot. Traditional appearance-based methods rely on local features and are prone to failure ambiguous environments. On other hand, object recognition infer objects' category, pose, extent. These objects serve as stable semantic landmarks for viewpoint-independent...

The purpose of the work reported here is to design a purely vision-based Simultaneous Localization And Map-building system for a MAV flying at a constant altitude. We demonstrate the effectiveness of our approach with videos taken from a heading-down camera mounted on different MAV. In particular, results on loop-closure detection and on map-precision improvement through an on-line estimate of ...

Topological maps are vital for fast and accurate localization in large environments. Sparse topological maps can be constructed by partitioning a sequence of images acquired by a robot, according to their appearance. All images in a partition have similar appearance and are represented by a node in a topological map. In this paper, we present a topological mapping framework which makes use of i...

This paper presents a novel lidar SLAM system for localizing mobile robot to build map of the environment. To identify unknown transform matrix, we design new scan-matching approach, in which point cloud segmentation algorithm is additionally integrated. Different from traditional normal distribution registration, our newly proposed one incorporates ground remover and method. By employing divid...