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 +5 more
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Real-time visual loop-closure detection [PDF]
2008 IEEE International Conference on Robotics and Automation, 2008 Published ...
Angeli, A. +3 more
core +7 more sources
PLSAV: Parallel loop searching and verifying for loop closure detection [PDF]
IET Intelligent Transport Systems, 2021 Visual simultaneous localization and mapping (vSLAM), one of the most important applications in autonomous vehicles and robots to estimate the position and pose using inexpensive visual sensors, suffers from error accumulation for long‐term navigation ...
Zhe Yang +4 more
doaj +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
SVG-Loop: Semantic–Visual–Geometric Information-Based Loop Closure Detection [PDF]
Remote Sensing, 2021 Loop closure detection is an important component of visual simultaneous localization and mapping (SLAM). However, most existing loop closure detection methods are vulnerable to complex environments and use limited information from images. As higher-level
Zhian Yuan +4 more
doaj +2 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 +3 more
doaj +2 more sources
TS-LCD: Two-Stage Loop-Closure Detection Based on Heterogeneous Data Fusion [PDF]
SensorsLoop-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 +6 more
doaj +2 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
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Approach to Semantic Visual SLAM for Bionic Robots Based on Loop Closure Detection with Combinatorial Graph Entropy in Complex Dynamic Scenes [PDF]
BiomimeticsIn 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
A visual SLAM loop closure detection method based on lightweight siamese capsule network [PDF]
Scientific ReportsLoop 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
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