Loop Closure Detection
25 papers with code • 0 benchmarks • 3 datasets
Loop closure detection is the process of detecting whether an agent has returned to a previously visited location.
( Image credit: Backtracking Regression Forests for Accurate Camera Relocalization )
Benchmarks
These leaderboards are used to track progress in Loop Closure Detection
KAIST Urban
New College
AUT-VI
Latest papers with no code
Closing the Loop: Graph Networks to Unify Semantic Objects and Visual Features for Multi-object Scenes
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.
PLD-SLAM: A Real-Time Visual SLAM Using Points and Line Segments in Dynamic Scenes
With the popularization and application of the technology in wide scope, the practicability of SLAM system has become a new hot topic after the accuracy and robustness, e. g., how to keep the stability of the system and achieve accurate pose estimation in the low-texture and dynamic environment, and how to improve the universality and real-time performance of the system in the real scenes, etc.
AutoMerge: 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.
Semi-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.
HiTPR: Hierarchical Transformer for Place Recognition in Point Cloud
In the SRT, we extract the local feature for each point cell.
Bi-directional Loop Closure for Visual SLAM
As a result, most of the methods fail in the absence of a significantly similar overlap of perspectives.
DSC: Deep Scan Context Descriptor for Large-Scale Place Recognition
LiDAR-based place recognition is an essential and challenging task both in loop closure detection and global relocalization.
Average Outward Flux Skeletons for Environment Mapping and Topology Matching
In topology matching between two given maps and their AOF skeletons, we first find correspondences between points on the AOF skeletons of two different environments.
SymbioLCD: Ensemble-Based Loop Closure Detection using CNN-Extracted Objects and Visual Bag-of-Words
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.
Automatic Vocabulary and Graph Verification for Accurate Loop Closure Detection
Localizing pre-visited places during long-term simultaneous localization and mapping, i. e. loop closure detection (LCD), is a crucial technique to correct accumulated inconsistencies.
