Improved M-ORB based direct-loop closure detection algorithm for visual SLAM
Most kinds of direct methods do not extract image feature points in the front end of SLAM system, resulting in that they cannot use loop closure detection with bag-of-words models to eliminate the cumulative error of the system.To resolve this problem, an improved mature-oriented fast and rotated BR...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | zho |
| Published: |
POSTS&TELECOM PRESS Co., LTD
2021-12-01
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| Series: | 智能科学与技术学报 |
| Subjects: | |
| Online Access: | http://www.cjist.com.cn/thesisDetails#10.11959/j.issn.2096-6652.202148 |