Collaborative SLAM with Convolutional Neural Network-based Descriptor for Inter-Map Loop Closure Detection.
Zuyuan ZhuZakaria ChekaktaNabil AoufPublished in: ICARA (2024)
Keyphrases
- loop closure
- simultaneous localization and mapping
- error accumulation
- bundle adjustment
- outdoor environments
- loop closing
- mobile robot
- dynamic environments
- map building
- structure from motion
- particle filter
- robot navigation
- kalman filter
- feature extraction
- mobile robotics
- unknown environments
- data association
- topological map
- robotic systems
- graph cuts
- markov random field
- object recognition