Combining Deep Learning and Robust Estimation for Outlier-Resilient Underwater Visual Graph SLAM
Visual Loop Detection (VLD) is a core component of any Visual Simultaneous Localization and Mapping (SLAM) system, and its goal is to determine if the robot has returned to a previously visited region by comparing images obtained at different time steps. This paper presents a new approach to visual...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2022-04-01
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| Series: | Journal of Marine Science and Engineering |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2077-1312/10/4/511 |