Loop closure detection of visual SLAM based on variational autoencoder

Loop closure detection of visual SLAM based on variational autoencoder

Loop closure detection is an important module for simultaneous localization and mapping (SLAM). Correct detection of loops can reduce the cumulative drift in positioning. Because traditional detection methods rely on handicraft features, false positive detections can occur when the environment chang...

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Bibliographic Details
Main Authors: Shibin Song, Fengjie Yu, Xiaojie Jiang, Jie Zhu, Weihao Cheng, Xiao Fang
Format: Article
Language:English
Published: Frontiers Media S.A. 2024-01-01
Series:Frontiers in Neurorobotics
Subjects:
visual SLAM
loop closure detection
variational autoencoder
attention mechanism
loss function
Online Access:https://www.frontiersin.org/articles/10.3389/fnbot.2023.1301785/full

Internet

https://www.frontiersin.org/articles/10.3389/fnbot.2023.1301785/full

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