Papers Loop Closure Detection
“Loop Closure Detection” 태그가 달린 논문 89편 · 필터 해제
LiPo-LCD: Combining Lines and Points for Appearance-based Loop Closure Detection
Visual SLAM approaches typically depend on loop closure detection to correct the inconsistencies that may arise during the map and camera trajectory calculations, typically making use of point features for detecting and …
Loop Closure DetectionGaussian Process Gradient Maps for Loop-Closure Detection in Unstructured Planetary Environments
The ability to recognize previously mapped locations is an essential feature for autonomous systems. Unstructured planetary-like environments pose a major challenge to these systems due to the similarity of the terrain. …
Image RegistrationLoop Closure DetectionVisual Place RecognitionDXSLAM: A Robust and Efficient Visual SLAM System with Deep Features
A robust and efficient Simultaneous Localization and Mapping (SLAM) system is essential for robot autonomy. For visual SLAM algorithms, though the theoretical framework has been well established for most aspects, feature…
GPULoop Closure DetectionSimultaneous Localization and MappingDynamic Object Tracking and Masking for Visual SLAM
In dynamic environments, performance of visual SLAM techniques can be impaired by visual features taken from moving objects. One solution is to identify those objects so that their visual features can be removed for loca…
Loop Closure DetectionObjectObject TrackingPositionIntensity Scan Context: Coding Intensity and Geometry Relations for Loop Closure Detection
Loop closure detection is an essential and challenging problem in simultaneous localization and mapping (SLAM). It is often tackled with light detection and ranging (LiDAR) sensor due to its view-point and illumination i…
Loop Closure DetectionRetrievalSimultaneous Localization and MappingFast Loop Closure Detection via Binary Content
Loop closure detection plays an important role in reducing localization drift in Simultaneous Localization And Mapping (SLAM). It aims to find repetitive scenes from historical data to reset localization. To tackle the l…
Image RetrievalLoop Closure DetectionRetrievalSimultaneous Localization and MappingLiDAR Iris for Loop-Closure Detection
In this paper, a global descriptor for a LiDAR point cloud, called LiDAR Iris, is proposed for fast and accurate loop-closure detection. A binary signature image can be obtained for each point cloud after several LoG-Gab…
Loop Closure DetectionKernel learning for visual perception
The visual perceptual system in animals allows them to assimilate information from their surroundings. In artificial intelligence, the objective of visual perception is to enable the capability of a computer system to in…
Activity RecognitionHuman Activity RecognitionLoop Closure Detectionobject-detection+8Fast and Incremental Loop Closure Detection Using Proximity Graphs
Visual loop closure detection, which can be considered as an image retrieval task, is an important problem in SLAM (Simultaneous Localization and Mapping) systems. The frequently used bag-of-words (BoW) models can achiev…
GPUImage RetrievalLoop Closure DetectionRetrieval+1Sem-LSD: A Learning-based Semantic Line Segment Detector
In this paper, we introduces a new type of line-shaped image representation, named semantic line segment (Sem-LS) and focus on solving its detection problem. Sem-LS contains high-level semantics and is a compact scene re…
Line Segment DetectionLoop Closure DetectionLearning Local Feature Descriptor with Motion Attribute for Vision-based Localization
In recent years, camera-based localization has been widely used for robotic applications, and most proposed algorithms rely on local features extracted from recorded images. For better performance, the features used for …
AttributeLoop Closure DetectionPlace recognition in gardens by learning visual representations: data set and benchmark analysis
Visual place recognition is an important component of systems for camera localization and loop closure detection. It concerns the recognition of a previously visited place based on visual cues only. Although it is a wide…
Camera LocalizationImage DescriptionLoop Closure DetectionVisual Localization+1SeqLPD: Sequence Matching Enhanced Loop-Closure Detection Based on Large-Scale Point Cloud Description for Self-Driving Vehicles
Place recognition and loop-closure detection are main challenges in the localization, mapping and navigation tasks of self-driving vehicles. In this paper, we solve the loop-closure detection problem by incorporating the…
Loop Closure DetectionPose Graph Optimization for Unsupervised Monocular Visual Odometry
Unsupervised Learning based monocular visual odometry (VO) has lately drawn significant attention for its potential in label-free leaning ability and robustness to camera parameters and environmental variations. However,…
Loop Closure DetectionMonocular Visual OdometryVisual OdometryMRS-VPR: a multi-resolution sampling based global visual place recognition method
Place recognition and loop closure detection are challenging for long-term visual navigation tasks. SeqSLAM is considered to be one of the most successful approaches to achieving long-term localization under varying envi…
Loop Closure DetectionVisual NavigationVisual Place RecognitionLearning to See the Wood for the Trees: Deep Laser Localization in Urban and Natural Environments on a CPU
Localization in challenging, natural environments such as forests or woodlands is an important capability for many applications from guiding a robot navigating along a forest trail to monitoring vegetation growth with ha…
CPULoop Closure DetectionLoop Closure Detection with RGB-D Feature Pyramid Siamese Networks
In visual Simultaneous Localization And Mapping (SLAM), detecting loop closures has been an important but difficult task. Currently, most solutions are based on the bag-of-words approach. Yet the possibility of deep neur…
Loop Closure DetectionSimultaneous Localization and MappingFusion++: Volumetric Object-Level SLAM
We propose an online object-level SLAM system which builds a persistent and accurate 3D graph map of arbitrary reconstructed objects. As an RGB-D camera browses a cluttered indoor scene, Mask-RCNN instance segmentations …
Loop Closure DetectionObjectLDSO: Direct Sparse Odometry with Loop Closure
In this paper we present an extension of Direct Sparse Odometry (DSO) to a monocular visual SLAM system with loop closure detection and pose-graph optimization (LDSO). As a direct technique, DSO can utilize any image pix…
Loop Closure DetectionTranslationExploiting Points and Lines in Regression Forests for RGB-D Camera Relocalization
Camera relocalization plays a vital role in many robotics and computer vision tasks, such as global localization, recovery from tracking failure and loop closure detection. Recent random forests based methods exploit ran…
Camera RelocalizationLoop Closure Detectionregression