Results 31 to 40 of about 59,217 (275)
Loop closure detection using depth images [PDF]
2013 European Conference on Mobile Robots, 2013 We investigate the question whether loop closure detection using depth images is feasible using currently available depth features. For this reason, we collected a benchmark dataset consisting of a total number of 15 logfiles with several loops in various environments, implemented a modular and easily extensible loop closure detector and used this to ...
Sebastian A. Scherer +2 more
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LiPMatch: LiDAR Point Cloud Plane Based Loop-Closure [PDF]
IEEE Robotics and Automation Letters, 2020 This letter presents a point cloud based loop-closure method to correct long-term drifts in Light Detection and Ranging based Simultaneous Localization and Mapping systems. In the method, we formulate each keyframe as a fully-connected graph with nodes representing planes.
Jianwen Jiang +4 more
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Loop Closure Detection in Closed Environments [PDF]
2019 European Conference on Mobile Robots (ECMR), 2019 Low cost robots, such as vacuum cleaners or lawn mowers employ simplistic and often random navigation policies. Although a large number of sophisticated mapping and planning approaches exist, they require additional sensors like LIDAR sensors, cameras or time of flight sensors.
Rottmann, Nils +3 more
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SemanticLoop: Loop Closure With 3D Semantic Graph Matching
IEEE Robotics and Automation Letters, 2023 Loop closure can effectively correct the accumulated error in robot localization, which plays a critical role in the long-term navigation of the robot. Traditional appearance-based methods rely on local features and are prone to failure in ambiguous environments. On the other hand, object recognition can infer objects' category, pose, and extent. These
Junfeng Yu, Shaojie Shen
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Visual Odometry and Place Recognition Fusion for Vehicle Position Tracking in Urban Environments
Sensors, 2018 In this paper, we address the problem of vehicle localization in urban environments. We rely on visual odometry, calculating the incremental motion, to track the position of the vehicle and on place recognition to correct the accumulated drift of visual ...
Safa Ouerghi +3 more
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Fast Closed Loop Detection Method Based on Simplification Convolutional Neural Network [PDF]
Jisuanji gongcheng, 2018 Loop closure detection methods based on deep learning can achieve good detection performance in complicate illumination environment.But the dimension of extracted scene feature is too high to achieve the real-time detection requirement for closed loop ...
HE Yuanlie,CHEN Jiateng,ZENG Bi
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Simultaneous Underwater Navigation and Mapping
U.Porto Journal of Engineering, 2019 The use of underwater autonomous vehicles has been growing, allowing the performance of tasks that cause inherent risks to Human, namely in inspection processes near to structures.
Ana Rita Silva Gaspar, Aníbal Matos
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Applied Sciences, 2023 This paper proposes a novel approach for appearance-based loop closure detection using incremental Bag of Words (BoW) with gradient orientation histograms.
Yuni Li, Wu Wei, Honglei Zhu
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Loop Closure Detection Based on Multi-Scale Deep Feature Fusion
Applied Sciences, 2019 Loop closure detection plays a very important role in the mobile robot navigation field. It is useful in achieving accurate navigation in complex environments and reducing the cumulative error of the robot’s pose estimation.
Baifan Chen +3 more
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Resting state connectivity between medial temporal lobe regions and intrinsic cortical networks predicts performance in a path integration task [PDF]
, 2018 Humans differ in their individual navigational performance, in part because successful navigation relies on several diverse abilities. One such navigational capability is path integration, the updating of position and orientation during movement ...
Chrastil, Elizabeth R. +2 more
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