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...
| Main Authors: | , , , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
| Published: |
Elsevier BV
2020
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| Online Access: | https://hdl.handle.net/1721.1/124489 |