Hierarchical loop closure detection for long-term visual SLAM with semantic-geometric descriptors

Hierarchical loop closure detection for long-term visual SLAM with semantic-geometric descriptors

Modern visual Simultaneous Localization and Mapping (SLAM) systems rely on loop closure detection methods for correcting drifts in maps and poses. Existing loop closure detection methods mainly employ conventional feature descriptors to create vocabulary for describing places using bag-of-words (BOW...

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Bibliographic Details
Main Authors: Singh, Gaurav, Wu, Meiqing, Lam, Siew-Kei, Minh, Do Van
Other Authors: College of Computing and Data Science
Format: Conference Paper
Language:English
Published: 2024
Subjects:
Computer and Information Science
Measurement
Location awareness
Online Access:https://hdl.handle.net/10356/178587

Internet

https://hdl.handle.net/10356/178587

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