Results 251 to 260 of about 162,677 (314)

A Precision Loop Closure Detection Technique for AUV Bathymetric SLAM in the Absence of a DVL

IEEE Transactions on Instrumentation and Measurement
This article describes a novel loop closure detection technique for bathymetric simultaneous localization and mapping (SLAM) operations with autonomous underwater vehicles (AUVs) in the absence of a Doppler velocity logger (DVL). The methodology proposed
Yusen Gong, Teng Ma, Ye Li, Mingxiao Yuan, António Pascoal   +4 more
semanticscholar   +1 more source

SPVL-vSLAM: Visual SLAM for Autonomous Driving Vehicles Based on Semantic Patch-NetVLAD Loop Closure Detection in Semi-Static Scenes

IEEE transactions on intelligent transportation systems (Print)
Autonomous driving and intelligent robot technology have become cutting-edge research hotspots in recent years, but the sudden changes in short-term dynamics and the gradual changes in long-term dynamics presented in semi-static scenes can make it ...
Kun Wan, Jing Luo
semanticscholar   +1 more source

A Lightweight sequence-based Unsupervised Loop Closure Detection

2021 International Joint Conference on Neural Networks (IJCNN), 2021
Stable, effective and lightweight loop closure detection is an always pursued goal in real-time SLAM systems, that can be ported on embedded processors and deployed on autonomous robotics. Deep learning methods have extended the expressive ability and adaptability of the descriptor, and sequence-based methods can greatly improve the matching accuracy ...
Fan Xiong, Yan Ding, Mingrui Yu, Wenzhe Zhao, Nanning Zheng, Pengju Ren   +5 more
openaire   +1 more source

SeGraM: Aligned Coordinate System Aided Semantic Graph Matching Method for Loop Closure Detection

IEEE Transactions on Automation Science and Engineering
Capturing object semantics and their spatial relationships is crucial to estimating scene similarity for loop closure detection. Existing semantic loop closure detection methods generally treat semantics as landmarks or extract the object topology to ...
Meiling Wang, Yujie Tang, Yinan Deng, Haoyang Lu, Sibo Zuo, Yufeng Yue   +5 more
semanticscholar   +1 more source

Robust Visual Loop Closure Detection with Repetitive Features

2018 15th International Conference on Ubiquitous Robots (UR), 2018
Loop 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, HyungGi Jo, Hae Min Cho, Euntai Kim   +3 more
openaire   +1 more source

Multi-modal Loop Closure Detection with Foundation Models in Severely Unstructured Environments

arXiv.org
Robust loop closure detection is a critical component of Simultaneous Localization and Mapping (SLAM) algorithms in GNSS-denied environments, such as in the context of planetary exploration.
Laura Alejandra Encinar Gonzalez, John Folkesson, Rudolph Triebel, Riccardo Giubilato   +3 more
semanticscholar   +1 more source

Combining Multiple Image Descriptions for Loop Closure Detection

Journal of Intelligent & Robotic Systems, 2017
The 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
openaire   +1 more source

Communication-Efficient Data Exchange for Decentralized Loop-Closure Detection in Collaborative SLAM

American Control Conference
Inter-robot loop closure detection is crucial in Collaborative Simultaneous Localization and Mapping (CSLAM) as it integrates individual robot trajectories into a unified map.
Haochang Zhang, Yixian Zhao, Jinming Xu
semanticscholar   +1 more source

Environmental Landmark-Based Loop Closure Detection Combining FM/Wi-Fi/Magnetic Field Signals for Indoor SLAM

IEEE Transactions on Instrumentation and Measurement
Simultaneous localization and mapping (SLAM) technology has been employed to automate fingerprint database construction for fingerprinting-based indoor positioning, where loop closure detection plays a critical role.
Jin Tian, L. Cong, Honglei Qin, Yahan Wang   +3 more
semanticscholar   +1 more source

Multi-Mapcher: Loop Closure Detection-Free Heterogeneous LiDAR Multi-Session SLAM Leveraging Outlier-Robust Registration for Autonomous Vehicles

IEEE Transactions on Intelligent Vehicles
As various 3D light detection and ranging (LiDAR) sensors have been introduced to the market, research on multi-session simultaneous localization and mapping (MSS) using heterogeneous LiDAR sensors has been actively conducted. Existing MSS methods mostly
Hyungtae Lim, Daebeom Kim, Hyun Myung
semanticscholar   +1 more source