Results 41 to 50 of about 162,676 (316)
Simultaneous Detection of Loop-Closures and Changed Objects
Journal of Advanced Computational Intelligence and Intelligent Informatics, 2022 Loop-closure detection (LCD) in large non-stationary environments remains an important challenge in robotic visual simultaneous localization and mapping (vSLAM). To reduce computational and perceptual complexity, it is helpful if a vSLAM system has the ability to perform image change detection (ICD).
Kanji, Tanaka +2 more
openaire +2 more sources
Under vehicle perception for high level safety measures using a catadioptric camera system [PDF]
, 2013 In recent years, under vehicle surveillance and the classification of the vehicles become an indispensable task that must be achieved for security measures in certain areas such as shopping centers, government buildings, army camps etc.
Sahin, Caner +3 more
core +1 more source
Beyond SIFT using binary features in Loop Closure Detection [PDF]
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017 In this paper a binary feature based Loop Closure Detection (LCD) method is proposed, which for the first time achieves higher precision-recall (PR) performance compared with state-of-the-art SIFT feature based approaches. The proposed system originates from our previous work Multi-Index hashing for Loop closure Detection (MILD), which employs Multi ...
Han, Lei, Zhou, Guyue, Xu, Lan, Fang, Lu
openaire +2 more sources
Fusion of semantic and appearance features for loop‐closure detection in a dynamic environment
Electronics Letters, 2021 Loop‐closure detection is important in large‐scale localisation system. However, it is still difficult in a dynamic environment. An online fast loop‐closure detection algorithm based on Deeplabv3 with MobileNetV2 (DpMn2) as network backbone and local ...
Yan Xu, Jiani Huang
doaj +1 more source
LiDAR Loop Closure Detection using Semantic Graphs with Graph Attention Networks [PDF]
Journal of Intelligent and Robotic SystemsIn this paper, we propose a novel loop closure detection algorithm that uses graph attention neural networks to encode semantic graphs to perform place recognition and then use semantic registration to estimate the 6 DoF relative pose constraint.
Liudi Yang +6 more
semanticscholar +1 more source
RadarSLAM: Radar based Large-Scale SLAM in All Weathers
, 2020 Numerous Simultaneous Localization and Mapping (SLAM) algorithms have been presented in last decade using different sensor modalities. However, robust SLAM in extreme weather conditions is still an open research problem.
Hong, Ziyang, Petillot, Yvan, Wang, Sen
core +1 more source
A BigBiGAN-Based Loop Closure Detection Algorithm for Indoor Visual SLAM
Journal of Electrical and Computer Engineering, 2021 Loop closure detection serves as the fulcrum of improving the accuracy and precision in simultaneous localization and mapping (SLAM). The majority of loop detection methods extract artificial features, which fall short of learning comprehensive data ...
Qiubo Zhong, Xiaoyi Fang
doaj +1 more source
Keyframe-based monocular SLAM: design, survey, and future directions [PDF]
, 2017 Extensive research in the field of monocular SLAM for the past fifteen years has yielded workable systems that found their way into various applications in robotics and augmented reality.
Asmar, Daniel +3 more
core +3 more sources
LIO-CSI: LiDAR inertial odometry with loop closure combined with semantic information.
PLoS ONE, 2021 Accurate and reliable state estimation and mapping are the foundation of most autonomous driving systems. In recent years, researchers have focused on pose estimation through geometric feature matching. However, most of the works in the literature assume
Gang Wang +4 more
doaj +3 more sources
Real-Time Lidar Odometry and Mapping with Loop Closure
Sensors, 2022 Real-time performance and global consistency are extremely important in Simultaneous Localization and Mapping (SLAM) problems. Classic lidar-based SLAM systems often consist of front-end odometry and back-end pose optimization.
Yonghui Liu +4 more
doaj +1 more source