Using a Two-Stage Method to Reject False Loop Closures and Improve the Accuracy of Collaborative SLAM Systems

Using a Two-Stage Method to Reject False Loop Closures and Improve the Accuracy of Collaborative SLAM Systems

Loop-closure detection is an essential means to reduce accumulated errors of simultaneous localization and mapping (SLAM) systems. However, even false positive loop closures could seriously interfere and even corrupt the back-end optimization process. For a collaborative SLAM system that generally u...

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Bibliographic Details
Main Authors: Xiaoguo Zhang, Zihan Zhang, Qing Wang, Yuan Yang
Format: Article
Language:English
Published: MDPI AG 2021-10-01
Series:Electronics
Subjects:
collaborative SLAM
cooperative robots
perceptual aliasing
false positive loop closure
pose graph fusion
consistency check
Online Access:https://www.mdpi.com/2079-9292/10/21/2638

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https://www.mdpi.com/2079-9292/10/21/2638

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