Robust loop closure detection and relocalization with semantic-line graph matching constraints in indoor environments
Loop closure detection (LCD) plays an essential role in the Simultaneous Localization and Mapping (SLAM) process, effectively reducing cumulative trajectory errors. However, conventional LCD methods often encounter challenges when dealing with variations in illumination, changes in viewpoint, and en...
| Main Authors: | , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Elsevier
2024-05-01
|
| Series: | International Journal of Applied Earth Observations and Geoinformation |
| Subjects: | |
| Online Access: | http://www.sciencedirect.com/science/article/pii/S1569843224001985 |