Results 271 to 280 of about 162,677 (314)

Intensity Triangle Descriptor Constructed From High-Resolution Spinning LiDAR Intensity Image for Loop Closure Detection

IEEE Robotics and Automation Letters
LiDAR-based loop closure detection is a crucial part of realizing robust SLAM algorithms for intelligent vehicles with LiDAR sensors. Existing methods often reduce the keypoint dimension to encode the global descriptor, which sacrifices the freedom of ...
Yanfeng Zhang, Yunong Tian, Guodong Yang, Zhishuo Li, Mingrui Luo, En Li, Fengshui Jing   +6 more
semanticscholar   +1 more source

SLGD-Loop: A Semantic Local and Global Descriptor-Based Loop Closure Detection for Long-Term Autonomy

IEEE transactions on intelligent transportation systems (Print)
In simultaneous localization and mapping (SLAM), the detection of a true loop closure benefits in relocalization and increased map accuracy. However, its performance is largely affected by variation in light conditions, viewpoints, seasons, and the ...
Saba Arshad, Gon-Woo Kim
semanticscholar   +1 more source

Loop closure detection using local Zernike moment patterns

SPIE Proceedings, 2013
This 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, Onur Sencan, Hakan Temeltas   +2 more
openaire   +1 more source

DisView: A Semantic Visual IoT Mixed Data Feature Extractor for Enhanced Loop Closure Detection for UGVs During Rescue Operations

IEEE Internet of Things Journal
Disaster-altered environments present a unique challenge for unmanned ground vehicles (UGVs), navigating dynamic environments for rescue operations.
A. Memon, Muddesar Iqbal, Dhafer Almakhles   +2 more
semanticscholar   +1 more source

Deep Reinforcement Learning Based Loop Closure Detection

Journal of Intelligent & Robotic Systems, 2022
Asif Iqbal, Rhitu Thapa, Nicholas R. Gans   +2 more
openaire   +1 more source

Mercator Descriptor: A Novel Global Descriptor for Loop Closure Detection in LiDAR SLAM

IEEE Sensors Journal
Loop closure detection is a fundamental technique in simultaneous localization and mapping (SLAM), playing a crucial role in the map-building process.
Zhibo Wang, Donghai Xie, Yu Wu, Haiyang Wu, Xingyu Qi, Daoping Huang, Yibo Fu, Ruofei Zhong   +7 more
semanticscholar   +1 more source

Cross Fusion of Point Cloud and Learned Image for Loop Closure Detection

IEEE Robotics and Automation Letters
Loop closure detection (LCD) plays a crucial role in simultaneous localization and mapping (SLAM) systems to eliminate accumulated odometry drifts as the map is built, and using multi-modal information can improve the accuracy and robustness of this ...
Haosong Yue, Danyang Cao, Zhong Liu, Tian Wang, Weihai Chen   +4 more
semanticscholar   +1 more source

Loop Closure Detection with a Holistic Image Feature

2013
In 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, Luís Correia, João M. F. Calado   +2 more
openaire   +1 more source

Enhancing Cooperative Visual SLAM with a Self-Supervised Deep Learning Model for Efficient Keypoint-Based Inter-map Loop Closure Detection

2024 IEEE 20th International Conference on Automation Science and Engineering (CASE)
This paper introduces a self-supervised deep learning keypoint model SiLK specifically designed for loop closure detection in Cooperative Visual SLAM (Simultaneous Localization and Mapping).
Zakaria Chekakta, Abdelhafid Zenati, Nabil Aouf   +2 more
semanticscholar   +1 more source

FishNet for loop closure detection in VSLAM

Third International Conference on Computer Communication and Network Security (CCNS 2022), 2022
Jian Zhou, Shuijie Wang, Yu Su, Yuhe Qiu, Qianqian Cheng   +4 more
openaire   +1 more source