Papers Loop Closure Detection
“Loop Closure Detection” 태그가 달린 논문 89편 · 필터 해제
RadarLCD: Learnable Radar-based Loop Closure Detection Pipeline
Loop Closure Detection (LCD) is an essential task in robotics and computer vision, serving as a fundamental component for various applications across diverse domains. These applications encompass object recognition, imag…
Image RetrievalLoop Closure DetectionObject RecognitionRadar odometryTReR: A Lightweight Transformer Re-Ranking Approach for 3D LiDAR Place Recognition
Autonomous driving systems often require reliable loop closure detection to guarantee reduced localization drift. Recently, 3D LiDAR-based localization methods have used retrieval-based place recognition to find revisite…
3D Place RecognitionAutonomous DrivingInformation RetrievalLoop Closure Detection+2Loop Closure Detection Based on Object-level Spatial Layout and Semantic Consistency
Visual simultaneous localization and mapping (SLAM) systems face challenges in detecting loop closure under the circumstance of large viewpoint changes. In this paper, we present an object-based loop closure detection me…
Graph MatchingLoop Closure DetectionObjectSimultaneous Localization and MappingLSGDDN-LCD: An Appearance-based Loop Closure Detection using Local Superpixel Grid Descriptors and Incremental Dynamic Nodes
Loop Closure Detection (LCD) is an essential component of visual simultaneous localization and mapping (SLAM) systems. It enables the recognition of previously visited scenes to eliminate pose and map estimate drifts ari…
Loop Closure DetectionRetrievalSimultaneous Localization and MappingRegion Prediction for Efficient Robot Localization on Large Maps
Recognizing already explored places (a.k.a. place recognition) is a fundamental task in Simultaneous Localization and Mapping (SLAM) to enable robot relocalization and loop closure detection. In topological SLAM the reco…
Loop Closure DetectionPredictionSimultaneous Localization and MappingORCHNet: A Robust Global Feature Aggregation approach for 3D LiDAR-based Place recognition in Orchards
Robust and reliable place recognition and loop closure detection in agricultural environments is still an open problem. In particular, orchards are a difficult case study due to structural similarity across the entire fi…
Loop Closure DetectionContour Context: Abstract Structural Distribution for 3D LiDAR Loop Detection and Metric Pose Estimation
This paper proposes \textit{Contour Context}, a simple, effective, and efficient topological loop closure detection pipeline with accurate 3-DoF metric pose estimation, targeting the urban utonomous driving scenario. We …
Loop Closure DetectionPose EstimationRetrievalGraffMatch: Global Matching of 3D Lines and Planes for Wide Baseline LiDAR Registration
Using geometric landmarks like lines and planes can increase navigation accuracy and decrease map storage requirements compared to commonly-used LiDAR point cloud maps. However, landmark-based registration for applicatio…
Loop Closure DetectionA Faster, Lighter and Stronger Deep Learning-Based Approach for Place Recognition
Visual Place Recognition is an essential component of systems for camera localization and loop closure detection, and it has attracted widespread interest in multiple domains such as computer vision, robotics and AR/VR. …
Camera LocalizationLoop Closure DetectionVisual Place RecognitionDeepRING: Learning Roto-translation Invariant Representation for LiDAR based Place Recognition
LiDAR based place recognition is popular for loop closure detection and re-localization. In recent years, deep learning brings improvements to place recognition by learnable feature extraction. However, these methods deg…
Loop Closure DetectionOne-Shot LearningTranslationFusing Event-based Camera and Radar for SLAM Using Spiking Neural Networks with Continual STDP Learning
This work proposes a first-of-its-kind SLAM architecture fusing an event-based camera and a Frequency Modulated Continuous Wave (FMCW) radar for drone navigation. Each sensor is processed by a bio-inspired Spiking Neural…
Drone navigationLoop Closure DetectionClosing the Loop: Graph Networks to Unify Semantic Objects and Visual Features for Multi-object Scenes
In Simultaneous Localization and Mapping (SLAM), Loop Closure Detection (LCD) is essential to minimize drift when recognizing previously visited places. Visual Bag-of-Words (vBoW) has been an LCD algorithm of choice for …
Graph MatchingLoop Closure DetectionSimultaneous Localization and MappingGeneral Place Recognition Survey: Towards the Real-world Autonomy Age
Place recognition is the fundamental module that can assist Simultaneous Localization and Mapping (SLAM) in loop-closure detection and re-localization for long-term navigation. The place recognition community has made as…
Loop Closure DetectionSimultaneous Localization and MappingSurveyPLD-SLAM: A Real-Time Visual SLAM Using Points and Line Segments in Dynamic Scenes
In this paper, we consider the problems in the practical application of visual simultaneous localization and mapping (SLAM). With the popularization and application of the technology in wide scope, the practicability of …
Loop Closure DetectionPose EstimationSimultaneous Localization and MappingAutoMerge: A Framework for Map Assembling and Smoothing in City-scale Environments
We present AutoMerge, a LiDAR data processing framework for assembling a large number of map segments into a complete map. Traditional large-scale map merging methods are fragile to incorrect data associations, and are p…
Loop Closure DetectionRetrievalSemi-supervised Vector-Quantization in Visual SLAM using HGCN
In this paper, two semi-supervised appearance based loop closure detection technique, HGCN-FABMAP and HGCN-BoW are introduced. Furthermore an extension to the current state of the art localization SLAM algorithm, ORB-SLA…
Decision MakingLoop Closure DetectionQuantizationHiTPR: Hierarchical Transformer for Place Recognition in Point Cloud
Place recognition or loop closure detection is one of the core components in a full SLAM system. In this paper, aiming at strengthening the relevancy of local neighboring points and the contextual dependency among global…
Loop Closure DetectionPoint Cloud RetrievalBi-directional Loop Closure for Visual SLAM
A key functional block of visual navigation system for intelligent autonomous vehicles is Loop Closure detection and subsequent relocalisation. State-of-the-Art methods still approach the problem as uni-directional along…
Autonomous VehiclesLoop Closure DetectionVisual NavigationPhase-SLAM: Phase Based Simultaneous Localization and Mapping for Mobile Structured Light Illumination Systems
Structured Light Illumination (SLI) systems have been used for reliable indoor dense 3D scanning via phase triangulation. However, mobile SLI systems for 360 degree 3D reconstruction demand 3D point cloud registration, i…
3D Object Reconstruction3D ReconstructionLoop Closure DetectionObject Reconstruction+3Why-So-Deep: Towards Boosting Previously Trained Models for Visual Place Recognition
Deep learning-based image retrieval techniques for the loop closure detection demonstrate satisfactory performance. However, it is still challenging to achieve high-level performance based on previously trained models in…
Image RetrievalLoop Closure DetectionRetrievalSimultaneous Localization and Mapping+1