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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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Loop Closure Detection Based on Spatial Constraints and Weighted Feature Matching
2025 CAA Symposium on Fault Detection, Supervision, and Safety for Technical Processes (SAFEPROCESS)This paper introduces a loop-closure detection approach that leverages spatial constraints and weighted feature matching to cope with the complexities of industrial sites, including substations.The proposed approach combines deep learning feature ...
Liang Zhai +6 more
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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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Robotic Intelligence and Automation
Purpose The purpose of this paper is to propose a loop detection method tailored to mapping and localizing reflectors for logistic robots. A crucial component, a shape feature construction method, is essential to fulfill loop requirements.
Wenguang Li +7 more
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Purpose The purpose of this paper is to propose a loop detection method tailored to mapping and localizing reflectors for logistic robots. A crucial component, a shape feature construction method, is essential to fulfill loop requirements.
Wenguang Li +7 more
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Cross transformer for LiDAR-based loop closure detection
Machine Vision and ApplicationsRui Zheng +4 more
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IEEE Sensors Journal
Orchard robots’ tasks rely on highly accurate, real-time trajectory estimation and map-building. In this article, a novel tightly coupled light detection and ranging (LiDAR) inertial simultaneous localization and mapping (SLAM) system, SG-ISBP-SLAM, is ...
Fang Ou +5 more
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Orchard robots’ tasks rely on highly accurate, real-time trajectory estimation and map-building. In this article, a novel tightly coupled light detection and ranging (LiDAR) inertial simultaneous localization and mapping (SLAM) system, SG-ISBP-SLAM, is ...
Fang Ou +5 more
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Shape BoW: Generalized Bag of Words for Appearance-Based Loop Closure Detection in Bathymetric SLAM
IEEE Robotics and Automation LettersExisting bathymetric simultaneous localization and mapping (SLAM) methods predominantly rely on odometry information for loop closure detection, which has a deteriorating performance when handling unreliable odometry data or conducting large-scale ...
Qianyi Zhang, Jinwhan Kim
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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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RLS-LCD: An Efficient Loop Closure Detection for Rotary-LiDAR Scans
IEEE Sensors JournalLoop closure detection (LCD) is a crucial technology within the field of simultaneous localization and mapping (SLAM), aiming to mitigate cumulative errors and maintain a globally consistent map.
Qiyuan Zhang +5 more
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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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