Closing the Loop: Graph Networks to Unify Semantic Objects and Visual Features for Multi-object Scenes

no code implementations • 24 Sep 2022 • Jonathan J. Y. Kim, Martin Urschler, Patricia J. Riddle, Jörg S. Wicker

However, they are unable to exploit spatial information of local visual features and lack a structure that unifies semantic objects and visual features, therefore limiting the symbiosis between the two components.

Graph Matching Loop Closure Detection +1

SymbioLCD: Ensemble-Based Loop Closure Detection using CNN-Extracted Objects and Visual Bag-of-Words

no code implementations • 21 Oct 2021 • Jonathan J. Y. Kim, Martin Urschler, Patricia J. Riddle, Jörg S. Wicker

Many state-of-the-art loop closure detection (LCD) algorithms use visual Bag-of-Words (vBoW), which is robust against partial occlusions in a scene but cannot perceive the semantics or spatial relationships between feature points.

Loop Closure Detection Simultaneous Localization and Mapping