A Lightweight Neural Network for Loop Closure Detection in Indoor Visual SLAM
Abstract Loop closure detection (LCD) plays an important role in visual simultaneous location and mapping (SLAM), as it can effectively reduce the cumulative errors of the SLAM system after a long period of movement. Convolutional neural networks (CNNs) have a significant advantage in image similari...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Springer
2023-04-01
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| Series: | International Journal of Computational Intelligence Systems |
| Subjects: | |
| Online Access: | https://doi.org/10.1007/s44196-023-00223-8 |