Results 271 to 280 of about 162,676 (316)

RLS-LCD: An Efficient Loop Closure Detection for Rotary-LiDAR Scans

IEEE Sensors Journal
Loop closure detection (LCD) is a crucial technology within the field of simultaneous localization and mapping (SLAM), aiming to mitigate cumulative errors and maintain a globally consistent map.
Qiyuan Zhang, Shunyi Zheng, Rui Li, Xiqi Wang, Yuan He, Xiaonan Wang   +5 more
semanticscholar   +1 more source

SLGD-Loop: A Semantic Local and Global Descriptor-Based Loop Closure Detection for Long-Term Autonomy

IEEE transactions on intelligent transportation systems (Print)
In simultaneous localization and mapping (SLAM), the detection of a true loop closure benefits in relocalization and increased map accuracy. However, its performance is largely affected by variation in light conditions, viewpoints, seasons, and the ...
Saba Arshad, Gon-Woo Kim
semanticscholar   +1 more source

Loop closure detection using local Zernike moment patterns

SPIE Proceedings, 2013
This paper introduces a novel image description technique that aims at appearance based loop closure detection for mobile robotics applications. This technique relies on the local evaluation of the Zernike Moments. Binary patterns, which are referred to as Local Zernike Moment (LZM) patterns, are extracted from images, and these binary patterns are ...
Evangelos Sariyanidi, Onur Sencan, Hakan Temeltas   +2 more
openaire   +1 more source

Intensity Triangle Descriptor Constructed From High-Resolution Spinning LiDAR Intensity Image for Loop Closure Detection

IEEE Robotics and Automation Letters
LiDAR-based loop closure detection is a crucial part of realizing robust SLAM algorithms for intelligent vehicles with LiDAR sensors. Existing methods often reduce the keypoint dimension to encode the global descriptor, which sacrifices the freedom of ...
Yanfeng Zhang, Yunong Tian, Guodong Yang, Zhishuo Li, Mingrui Luo, En Li, Fengshui Jing   +6 more
semanticscholar   +1 more source

Deep Reinforcement Learning Based Loop Closure Detection

Journal of Intelligent & Robotic Systems, 2022
Asif Iqbal, Rhitu Thapa, Nicholas R. Gans   +2 more
openaire   +1 more source

DisView: A Semantic Visual IoT Mixed Data Feature Extractor for Enhanced Loop Closure Detection for UGVs During Rescue Operations

IEEE Internet of Things Journal
Disaster-altered environments present a unique challenge for unmanned ground vehicles (UGVs), navigating dynamic environments for rescue operations.
A. Memon, Muddesar Iqbal, Dhafer Almakhles   +2 more
semanticscholar   +1 more source

Fuzzy ART-based place recognition for visual loop closure detection

Biological Cybernetics, 2012
The automatic place recognition problem is one of the key challenges in SLAM approaches for loop closure detection. Most of the appearance-based solutions to this problem share the idea of image feature extraction, memorization, and matching search. The weakness of these solutions is the storage and computational costs which increase drastically with ...
Karima, Rebai, Ouahiba, Azouaoui, Nouara, Achour   +2 more
openaire   +2 more sources

Loop Closure Detection with a Holistic Image Feature

2013
In this paper we introduce a novel image descriptor, LBP-gist, suitable for real time loop closure detection. As the name suggests, the proposed method builds on two popular image analysis techniques: the gist feature, which has been used in holistic scene description and the LBP operator, originally designed for texture classification. The combination
Francisco M. Campos, Luís Correia, João M. F. Calado   +2 more
openaire   +1 more source

Mercator Descriptor: A Novel Global Descriptor for Loop Closure Detection in LiDAR SLAM

IEEE Sensors Journal
Loop closure detection is a fundamental technique in simultaneous localization and mapping (SLAM), playing a crucial role in the map-building process.
Zhibo Wang, Donghai Xie, Yu Wu, Haiyang Wu, Xingyu Qi, Daoping Huang, Yibo Fu, Ruofei Zhong   +7 more
semanticscholar   +1 more source

FishNet for loop closure detection in VSLAM

Third International Conference on Computer Communication and Network Security (CCNS 2022), 2022
Jian Zhou, Shuijie Wang, Yu Su, Yuhe Qiu, Qianqian Cheng   +4 more
openaire   +1 more source