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Robust Visual Loop Closure Detection with Repetitive Features
2018 15th International Conference on Ubiquitous Robots (UR), 2018Loop closure detection problem is an essential issue in simultaneous localization and mapping (SLAM) problem. In particular, visual loop closure detection, which using a visual sensor, should be robust to environmental conditions like confusion caused by repeated structures.
Seongwon Lee +3 more
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Combining Multiple Image Descriptions for Loop Closure Detection
Journal of Intelligent & Robotic Systems, 2017The success of visual loop closure detection depends on the discrimination ability of the image descriptions. Different sources of image descriptions may carry complementary information as well as redundant information. Though integrating them properly can be beneficial, a main obstacle is the lack of analytical quality indicators to weigh different ...
Xiaolong Wang, Guohua Peng, Hong Zhang
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Hierarchical Loop Closure Detection for Topological Mapping
2018This chapter describes a novel appearance-based approach for topological mapping called HTMap (Hierarchical Topological Mapping), which is based on a hierarchical decomposition of the environment. Images with similar appearances are grouped together in locations, taking as a representative of the group the average of the PHOG global descriptors of the ...
Emilio Garcia-Fidalgo, Alberto Ortiz
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Global image signature for visual loop-closure detection
Autonomous Robots, 2015This work details a new method for loop-closure detection based on using multiple orthogonal projections to generate a global signature for each image of a video sequence. The new multi-projection function permits the detection of images corresponding to the same scene, but taken from different points of view. The signature generation process preserves
Pep Lluis Negre Carrasco +2 more
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VLAD-based loop closure detection for monocular SLAM
2016 IEEE International Conference on Information and Automation (ICIA), 2016Loop closure detection is very important in visual simultaneous and localization and mapping system (SLAM), which can reduce the accumulated drift. The most successful methods are based on Bag-of-Words model and need a large visual word dictionary. Recently, the VLAD, the state-of-the art compact descriptor, has achieved a great success in large scale ...
Yao Huang, Fuchun Sun, Yao Guo
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Edge-Based Loop Closure Detection in Visual SLAM
2018 Argentine Conference on Automatic Control (AADECA), 2018In robotics research which is focused on visionbased localization estimation, Loop Closure Detection (LCD) algorithms used to recognize visited places, have been established as the solution to the problem of error drift in Visual SLAM systems. In this paper, an LCD system based on the popular DoW2 module is analyzed using a classical state-of-art ...
Dario F. Mendieta +3 more
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Loop closure detection using local Zernike moment patterns
SPIE Proceedings, 2013This 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 +2 more
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Deep Reinforcement Learning Based Loop Closure Detection
Journal of Intelligent & Robotic Systems, 2022Asif Iqbal +2 more
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Loop Closure Detection with a Holistic Image Feature
2013In 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 +2 more
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FishNet for loop closure detection in VSLAM
Third International Conference on Computer Communication and Network Security (CCNS 2022), 2022Jian Zhou +4 more
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