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Loop Closure Detection in Closed Environments [PDF]
2019 European Conference on Mobile Robots (ECMR), 2019 Low cost robots, such as vacuum cleaners or lawn mowers employ simplistic and often random navigation policies. Although a large number of sophisticated mapping and planning approaches exist, they require additional sensors like LIDAR sensors, cameras or time of flight sensors.
Rottmann, Nils +3 more
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Advanced Intelligent Systems, 2023 Herein, a real‐time, fast, tightly coupled simultaneous localization and mapping (SLAM) system is proposed. The deep neural network is used to segment the point cloud semantically to construct the point cloud semantic map descriptor, and the global ...
Yingzhong Tian +7 more
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A Robust and Efficient Loop Closure Detection Approach for Hybrid Ground/Aerial Vehicles
Drones, 2023 Frequent and dramatic viewpoint changes make loop closure detection of hybrid ground/aerial vehicles extremely challenging. To address this issue, we present a robust and efficient loop closure detection approach based on the state-of-the-art ...
Yutong Wang +3 more
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Loop Closure Detection Based on Differentiable Manifold
Mobile Information Systems, 2022 Loop closure detection is an important part of SLAM (simultaneous location and mapping), which can effectively reduce the cumulative error of the system after long period of exploration. The existing loop closure detection methods are mainly to evenly distribute the accumulated error in the robot trajectory, but the motion error of the actual robot is ...
Tianzhen Dong +5 more
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Sensors, 2023 Simultaneous localization and mapping (SLAM) plays a crucial role in the field of intelligent mobile robots. However, the traditional Visual SLAM (VSLAM) framework is based on strong assumptions about static environments, which are not applicable to ...
Yang Wang +5 more
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Applied Sciences, 2023 This paper proposes a novel approach for appearance-based loop closure detection using incremental Bag of Words (BoW) with gradient orientation histograms.
Yuni Li, Wu Wei, Honglei Zhu
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International Journal of Applied Earth Observations and Geoinformation, 2021 In simultaneous localization and mapping (SLAM), loop closure detection is a significant yet still open problem. It contributes to construct a globally consistent and accurate map.
Haodong Xiang +5 more
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Detecting Loop Closure with Scene Sequences
International Journal of Computer Vision, 2007 This paper is concerned with "loop closing" for mobile robots. Loop closing is the problem of correctly asserting that a robot has returned to a previously visited area. It is a particularly hard but important component of the Simultaneous Localization and Mapping (SLAM) problem.
Ho, K, Newman, P
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Learning to detect loop closure from range data
2009 IEEE International Conference on Robotics and Automation, 2009 Despite significant developments in the Simultaneous Localisation and Mapping (SLAM) problem, loop closure detection is still challenging in large scale unstructured environments. Current solutions rely on heuristics that lack generalisation properties, in particular when range sensors are the only source of information about the robot's surrounding ...
Granström, Karl +3 more
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International Journal of Advanced Robotic Systems, 2021 Humans maintain good memory and recognition capability of previous environments when they are learning about new ones. Thus humans are able to continually learn and increase their experience. It is also obvious importance for autonomous mobile robot. The
Shilang Chen +4 more
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