Loop closure detection in SLAM by combining visual and spatial appearance.
Kin Leong HoPaul M. NewmanPublished in: Robotics Auton. Syst. (2006)
Keyphrases
- loop closure
- simultaneous localization and mapping
- error accumulation
- bundle adjustment
- outdoor environments
- map building
- mobile robot
- structure from motion
- kalman filter
- robot navigation
- loop closing
- spatial layout
- visual information
- dynamic environments
- multi view
- mobile robotics
- indoor environments
- spatial and temporal
- spatial configurations