Loop-closure detectionMappingRecognitionSLAMVisual-based navigationA key feature in the context of simultaneous localization and mapping is loop-closure detection, a process determining whether the current robot's environment perception coincides with previous observation. However, in long-term operations, ...
在这里,首先我们介绍以下SLAM一个相对独立的单元-回环检测(Loop closure detection). 先介绍这部分的原因是: 1) 它是相对独立的一块,可以和整个slam系统分离开,有些slam(如激光slam)就没有这个单元, SVO也没有; 2) 如果要学习ORB-SLAM, 前端和后端代码中都有提到这个,有助于理解。 1. 加入回环检测的目的 ...
adaptervisual-slamvisual-place-recognitionrelocalizationloop-closure-detectionimage-localizationvisual-geolocalization UpdatedMar 21, 2025 Python Lu-Feng/CricaVPR Star134 Code Issues Pull requests Official repository for the CVPR 2024 paper "CricaVPR: Cross-image Correlation-aware Representation Learning for...
《LiDAR Iris for Loop-Closure Detection》(IROS 2020 ) Motivation: 目前激光的全局或者局部描述子的描述能力和不变性能里仍然有所欠缺,虽然Scan-Context的提出,很大程度上缓解了这个问题,但是Scan-Context本身仍然有一些缺陷,一是它只利用了最大的高度,丢失了很多点云信息,二是Scan-Context不具有旋转不变性,需要进...
loop closure detection是place recognition技术在SLAM框架语境下的一种具体应用，将识别所得的定位数据用于...
SLAM in Dynamic Environments [8]AssigningVisualWordstoPlacesforLoopClosureDetection[9] Aided...结合,这里有用来估计位姿,用来做闭环检测(场景的再识别)等一些思路。还有就是SLAM的一些共性技术,比如优化、数据关联等,也有不少精彩的论文。这里按照文章的侧重点,对论文进行了一下分类,主要分为SLAM ...
二、基于表观的回环检测(Appearance-Based Loop Closure Detection)简介 回环检测的性能主要取决于图像的特征描述方法,以及检索之前存在图像的能力。(The performance of an appearance-based loop closure detection algorithm is highly influenced by the descript... ...
百度试题 结果1 题目回环检测,又称为开环检测(Loop Closure Detection),主要解决位置估计随时间漂移的问题。( ) 相关知识点: 试题来源: 解析 错误 反馈 收藏
Appearance-Based Loop Closure Detection for Online Large-Scale and Long-Term Operation Abstract: 本文提出一种用于大规模的长期回环检测,基于一种内存管理方法:限制用于回环检测的位置数目,以满足实时性要求。 introduction: 大场景存在的最关键问题:随着场景增大,回环检测处理的数据量增大,可能会产生延时。该论文的...
Two deep neural networks are used together to speed up the loop closure detection and to ignore the effect of mobile objects on loop closure detection. We have compared the results with most popular Bag of Words methods DBoW2 and DBoW3, and state-of-the-art iBoW-LCD using five publicly ...