Sparse optimization for robust and efficient loop closing

Sparse optimization for robust and efficient loop closing

It is essential for a robot to be able to detect revisits or loop closures for long-term visual navigation. A key insight explored in this work is that the loop-closing event inherently occurs sparsely, i.e., the image currently being taken matches with only a small subset (if any) of previous image...

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Bibliographic Details
Main Authors: Latif, Yasir, Huang, Guoquan, Leonard, John Joseph, Neira, José
Other Authors: Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Format: Article
Language:English
Published: Elsevier BV 2020
Online Access:https://hdl.handle.net/1721.1/124489

Internet

https://hdl.handle.net/1721.1/124489

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