Results 11 to 20 of about 98,360 (281)

Loop Closure Detection Via Maximization of Mutual Information [PDF]

IEEE Access, 2019
An image can be described in terms of appearance frequency of visual words. This representation is implemented in bag-of-visual-words (BoVW)-based loop closure detection for its efficiency and effectiveness. However, traditional BoVW-based approaches are
Ge Zhang, Xiaoqiang Yan, Yangdong Ye
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Post-integration based point-line feature visual SLAM in low-texture environments [PDF]

Scientific Reports
To address the issues of weak robustness and low accuracy of traditional SLAM data processing algorithms in weak texture environments such as low light and low contrast, this paper first studies and improves the data feature extraction method, optimizing
Yanli Liu, Zhengyuan Feng, Heng Zhang, Wang Dong   +3 more
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Loop Closure Detection Using Local 3D Deep Descriptors [PDF]

IEEE Robotics and Automation Letters, 2022
We present a simple yet effective method to address loop closure detection in simultaneous localisation and mapping using local 3D deep descriptors (L3Ds). L3Ds are emerging compact representations of patches extracted from point clouds that are learnt from data using a deep learning algorithm.
Youjie Zhou, Yiming Wang, Fabio Poiesi, Qi Qin, Yi Wan   +4 more
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LiDAR Iris for Loop-Closure Detection [PDF]

2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020
In this paper, a global descriptor for a LiDAR point cloud, called LiDAR Iris, is proposed for fast and accurate loop-closure detection. A binary signature image can be obtained for each point cloud after several LoG-Gabor filtering and thresholding operations on the LiDAR-Iris image representation.
Wang, Ying, Sun, Zezhou, Xu, Cheng-Zhong, Sarma, Sanjay E, Yang, Jian, Kong, Hui   +5 more
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A LiDAR/Visual SLAM Backend with Loop Closure Detection and Graph Optimization

Remote Sensing, 2021
LiDAR (light detection and ranging), as an active sensor, is investigated in the simultaneous localization and mapping (SLAM) system. Typically, a LiDAR SLAM system consists of front-end odometry and back-end optimization modules.
Shoubin Chen, Baoding Zhou, Changhui Jiang, Weixing Xue, Qingquan Li   +4 more
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AirLoop: Lifelong Loop Closure Detection

2022 International Conference on Robotics and Automation (ICRA), 2022
Loop closure detection is an important building block that ensures the accuracy and robustness of simultaneous localization and mapping (SLAM) systems. Due to their generalization ability, CNN-based approaches have received increasing attention. Although they normally benefit from training on datasets that are diverse and reflective of the environments,
Gao, Dasong, Wang, Chen, Scherer, Sebastian   +2 more
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Loop Closure Detection for Mobile Robot based on Multidimensional Image Feature Fusion

Machines, 2022
Loop closure detection is a crucial part of VSLAM. However, the traditional loop closure detection algorithms are difficult to adapt to complex and changeable scenes.
Jinming Li, Peng Wang, Cui Ni, Dong Zhang, Weilong Hao   +4 more
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Fast Loop Closure Detection via Binary Content [PDF]

2019 IEEE 15th International Conference on Control and Automation (ICCA), 2019
IEEE International Conference on Control and Automation (ICCA ...
Wang, Han, Li, Juncheng, Ran, Maopeng, Xie, Lihua   +3 more
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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, Alina Kloss, Andreas Zell   +2 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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