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ALCDNet: Loop Closure Detection Based on Acoustic Echoes
IEEE Robotics and Automation LettersLoop closure detection is a critical component of simultaneous localization and mapping (SLAM) systems, essential for mitigating the drift that accumulates over time.
Guangyao Liu +5 more
semanticscholar +2 more sources
Graph-Based Loop Closure Detection for Interaction Mapping
2025 34th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)Interaction understanding and activity recognition require the ability to identify patterns in sequences of events. A robot recording what is going on in real-life settings could be able to exploit these patterns using a representation similar to a map ...
Philippe Warren +4 more
semanticscholar +2 more sources
Loop closure detection using CNN words
Intelligent Service Robotics, 2019Loop closure detection (LCD) is crucial for the simultaneous localization and mapping system of an autonomous robot. Image features from a convolution neural network (CNN) have been widely used for LCD in recent years. Instead of directly using the feature vectors to compute the image similarity, we propose a novel and easy-to-implement method that ...
Qiang Liu, Fuhai Duan
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Three level sequence-based Loop Closure Detection
Robotics and Autonomous Systems, 2020Abstract The recognition of previously visited places, known as Loop Closure Detection (LCD), composes one of the problems widely studied in robotics: simultaneous localization and mapping (SLAM). In this paper we propose a three level hierarchy based LCD method.
Fernanda Rodrigues +6 more
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An Improved Loop Closure Detection for RatSLAM
2019 5th International Conference on Control, Automation and Robotics (ICCAR), 2019RatSLAM is a brain-inspired simultaneous localization and mapping(SLAM) system used to construct experience maps for environments, requiring odometry data and visual scenes in the path traveled. But it does not perform well in complex indoor surroundings due to the rough visual processing approach.
Tong Gu, Rui Yan
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Loop-Closure Detection Using Local Relative Orientation Matching
IEEE Transactions on Intelligent Transportation Systems, 2022Loop-closure detection (LCD), which aims to recognize a previously visited location, is a crucial component of the simultaneous localization and mapping system. In this paper, a novel appearance-based LCD method is presented. In particular, we propose a simple yet surprisingly useful feature matching algorithm for real-time geometrical verification of ...
Jiayi Ma +4 more
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IEEE Robotics and Automation Letters
Loop closure detection (LCD) is crucial for robotic systems as it corrects accumulated pose estimation errors. Existing LCD methods mainly rely on data training of specific scenarios, which leads these methods to struggle to achieve the required cross ...
Hongwei Qian, Sheng Jin, Liang Chen
semanticscholar +1 more source
Loop closure detection (LCD) is crucial for robotic systems as it corrects accumulated pose estimation errors. Existing LCD methods mainly rely on data training of specific scenarios, which leads these methods to struggle to achieve the required cross ...
Hongwei Qian, Sheng Jin, Liang Chen
semanticscholar +1 more source
Invariant Spatial Information for Loop-Closure Detection
2019 16th International Conference on Machine Vision Applications (MVA), 2019Recently, Bag-of-Words (BoW) has become a de-facto standard solution for loop-closure detection (LCD) in robotic visual SLAM (rvSLAM). Whereas BoW is efficient in using appearance information as invariant feature for comparing query and mapped scenes, it is not straightforward to use spatial information as invariant feature in BoW.
Yamamoto Ryohei +2 more
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A Modular Loop Closure Detection Scheme for Autonomous Driving: A Loosely Coupled Approach
IEEE Transactions on Vehicular TechnologyEfficient and precise loop closure detection is essential for both autonomous vehicles and robotics. Currently, loop closure detection technologies can recognize locations using the similarity between environmental measurements.
Wuqi Wang +5 more
semanticscholar +1 more source
Visual Loop Closure Detection over Illumination Change
2019 16th International Conference on Ubiquitous Robots (UR), 2019In the Simultaneous Localization and Mapping (SLAM) problem, loop closure detection is a task of whether the robot has visited the area or not, when robot has traveled a long distance, and then revisits the previous travel route. Bag-of-visual-words method, one of the popular and fast visual loop closure detection method, converts a query image into a ...
Seongwon Lee +3 more
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