Results 1 to 10 of about 162,676 (316)

A visual SLAM loop closure detection method based on lightweight siamese capsule network [PDF]

Scientific Reports
Loop closure detection is a key module in visual SLAM. During the robot’s movement, the cumulative error of the robot is reduced by the loop closure detection method, which can provide constraints for the back-end pose optimization, and the SLAM system ...
Yuhan Zhou, Mingli Sun
doaj   +3 more sources

TS-LCD: Two-Stage Loop-Closure Detection Based on Heterogeneous Data Fusion [PDF]

Sensors
Loop-closure detection plays a pivotal role in simultaneous localization and mapping (SLAM). It serves to minimize cumulative errors and ensure the overall consistency of the generated map.
Fangdi Jiang, Wanqiu Wang, Hongru You, Shuhang Jiang, Xin Meng, Jonghyuk Kim, Shifeng Wang   +6 more
doaj   +3 more sources

Role of Deep Learning in Loop Closure Detection for Visual and Lidar SLAM: A Survey [PDF]

Sensors, 2021
Loop closure detection is of vital importance in the process of simultaneous localization and mapping (SLAM), as it helps to reduce the cumulative error of the robot’s estimated pose and generate a consistent global map.
Saba Arshad, Gon-Woo Kim
doaj   +4 more sources

Loop Closure Detection Method Based on Similarity Differences between Image Blocks [PDF]

Sensors, 2023
Variations with respect to perspective, lighting, weather, and interference from dynamic objects may all have an impact on the accuracy of the entire system during autonomous positioning and during the navigation of mobile visual simultaneous ...
Yizhe Huang, Bin Huang, Zhifu Zhang, Yuanyuan Shi, Yizhao Yuan, Jinfeng Sun   +5 more
doaj   +2 more sources

Real-time visual loop-closure detection [PDF]

2008 IEEE International Conference on Robotics and Automation, 2008
Published ...
Angeli, A., Doncieux, S., Filliat, D., Meyer, J.-A.   +3 more
core   +7 more sources

Loop closure detection of visual SLAM based on variational autoencoder. [PDF]

Front Neurorobot, 2023
Loop closure detection is an important module for simultaneous localization and mapping (SLAM). Correct detection of loops can reduce the cumulative drift in positioning.
Song S, Yu F, Jiang X, Zhu J, Cheng W, Fang X.   +5 more
europepmc   +2 more sources

Original Loop-closure Detection Algorithm for Monocular vSLAM [PDF]

, 2017
Vision-based simultaneous localization and mapping (vSLAM) is a well-established problem in mobile robotics and monocular vSLAM is one of the most challenging variations of that problem nowadays.
Bokovoy, Andrey, Yakovlev, Konstantin
core   +4 more sources

Loop Closure Detection Based on Residual Network and Capsule Network for Mobile Robot [PDF]

Sensors, 2022
Loop closure detection based on a residual network (ResNet) and a capsule network (CapsNet) is proposed to address the problems of low accuracy and poor robustness for mobile robot simultaneous localization and mapping (SLAM) in complex scenes.
Xin Zhang, Liaomo Zheng, Zhenhua Tan, Suo Li   +3 more
doaj   +2 more sources

VS-SLAM: Robust SLAM Based on LiDAR Loop Closure Detection with Virtual Descriptors and Selective Memory Storage in Challenging Environments

Actuators
LiDAR loop closure detection is a key technology to mitigate localization drift in LiDAR SLAM, but it remains challenging in structurally similar environments and memory-constrained platforms.
Zhixing Song, Xuebo Zhang, Shiyong Zhang, Songyang Wu, Youwei Wang   +4 more
doaj   +2 more sources

Approach to Semantic Visual SLAM for Bionic Robots Based on Loop Closure Detection with Combinatorial Graph Entropy in Complex Dynamic Scenes [PDF]

Biomimetics
In complex dynamic environments, the performance of SLAM systems on bionic robots is susceptible to interference from dynamic objects or structural changes in the environment.
Dazheng Wang, Jingwen Luo
doaj   +2 more sources