Robust loop closure detection and relocalization with semantic-line graph matching constraints in indoor environments.
Xiqi WangShunyi ZhengXiaohu LinQiyuan ZhangXiaojian LiuPublished in: Int. J. Appl. Earth Obs. Geoinformation (2024)
Keyphrases
- loop closure
- graph matching
- indoor environments
- outdoor environments
- simultaneous localization and mapping
- mobile robot
- map building
- graph matching algorithm
- graph edit distance
- error accumulation
- pattern recognition
- pairwise
- object recognition
- path planning
- bundle adjustment
- dynamic environments
- matching algorithm
- robotic systems
- point sets
- surveillance system
- pattern matching
- data association
- kalman filter
- vector space
- machine learning
- autonomous robots
- image processing
- neural network