Results 261 to 270 of about 1,468,959 (299)

Towards Accurate Loop Closure Detection in Semantic SLAM With 3D Semantic Covisibility Graphs

IEEE Robotics and Automation Letters, 2022
Loop closure is necessary for correcting errors accumulated in simultaneous localization and mapping (SLAM) in unknown environments. However, conventional loop closure methods based on low-level geometric or image features may cause high ambiguity by not
Zhentian Qian, Jie Fu, Jing Xiao
semanticscholar   +1 more source

A kinematic view of loop closure

Journal of Computational Chemistry, 2004
AbstractWe consider the problem of loop closure, i.e., of finding the ensemble of possible backbone structures of a chain segment of a protein molecule that is geometrically consistent with preceding and following parts of the chain whose structures are given.
Evangelos A, Coutsias, Chaok, Seok, Matthew P, Jacobson, Ken A, Dill   +3 more
openaire   +2 more sources

A Light-Weight LiDAR-Inertial SLAM System with High Efficiency and Loop Closure Detection Capacity

International Conference on Advanced Robotics and Mechatronics, 2022
In this work, we propose a lightweight integrated LiDAR-Inertial SLAM system with high efficiency and a great loop closure capacity. We found that the current State-of-the-art LiDAR-Inertial SLAM system has poor performance in loop closure.
KC Jimmy, Huosen Ou
semanticscholar   +1 more source

Loop-Closure Detection Using Local Relative Orientation Matching

IEEE transactions on intelligent transportation systems (Print), 2022
Loop-closure detection (LCD), which aims to recognize a previously visited location, is a crucial component of the simultaneous localization and mapping system. In this paper, a novel appearance-based LCD method is presented.
Jiayi Ma, Xinyu. Ye, Huabing Zhou, Xiaoguang Mei, Fan Fan   +4 more
semanticscholar   +1 more source

Fast and Robust Loop-Closure Detection via Convolutional Auto-Encoder and Motion Consensus

IEEE Transactions on Industrial Informatics, 2022
Loop-closure detection is an indispensable module in the visual simultaneous localization and mapping (vSLAM) system. It typically consists of three main steps: image representation, loop-closure candidate selection, and loop-closure event verification ...
Jiayi Ma, S. Wang, Kaining Zhang, Zheng He, Jun Huang, Xiaoguang Mei   +5 more
semanticscholar   +1 more source

Visual Loop Closure Detection With Instance Segmentation and Image Inpainting in Dynamic Scenes Using Wearable Camera

IEEE Sensors Journal, 2022
Dynamic interference is an important factor that affects the accuracy of loop closure detection in visual SLAM. Traditional methods that remove the feature points in dynamic regions are prone to insufficient image features, which will decrease the ...
Yun Zhang, Rui Liu, Hai Yu, Bo Zhou, Kun Qian   +4 more
semanticscholar   +1 more source

DeLightLCD: A Deep and Lightweight Network for Loop Closure Detection in LiDAR SLAM

IEEE Sensors Journal, 2022
Loop closure detection (LCD) is a critical yet still open technique to enhance the performance of simultaneous localization and mapping (SLAM). In this article, a very deep and lightweight neural network deep and lightweight loop closure detection ...
Haodong Xiang, Xiaosheng Zhu, W. Shi, W. Fan, Pengxin Chen, Sheng Bao   +5 more
semanticscholar   +1 more source

LoopSplat: Loop Closure by Registering 3D Gaussian Splats

International Conference on 3D Vision
Simultaneous Localization and Mapping (SLAM) based on 3D Gaussian Splats (3DGS) has recently shown promise towards more accurate, dense 3D scene maps.
Liyuan Zhu, Yue Li, Erik Sandström, Shengyu Huang, Konrad Schindler, Iro Armeni   +5 more
semanticscholar   +1 more source

Performance Enhancement of Tightly Coupled GNSS/IMU Integration Based on Factor Graph With Robust TDCP Loop Closure

IEEE transactions on intelligent transportation systems (Print)
To autonomous systems (ASs) equipped with single-frequency GNSS chipsets, it is hard to fully use the high-precision carrier phase to assist positioning as the inherent integer ambiguity cannot be reliably obtained using only single-frequency ...
Shiyu Bai, Jizhou Lai, Pin Lyu, Yiting Cen, Xin Sun, Bingqing Wang   +5 more
semanticscholar   +1 more source

Semantic Loop Closure Detection With Instance-Level Inconsistency Removal in Dynamic Industrial Scenes

IEEE Transactions on Industrial Informatics, 2021
A novel semantic loop closure detection (SLCD) method is proposed in this article for visual simultaneous localization and mapping systems. SLCD aims to relieve the instance-level semantic inconsistency issue that arose from dynamic industrial scenes (e ...
Haosheng Chen, Ge Zhang, Yangdong Ye
semanticscholar   +1 more source