Online Global Loop Closure Detection for Large-Scale Multi-Session Graph-Based SLAM.
Mathieu LabbéFrançois MichaudPublished in: CoRR (2024)
Keyphrases
- loop closure
- simultaneous localization and mapping
- error accumulation
- bundle adjustment
- outdoor environments
- mobile robot
- loop closing
- real world
- map building
- structure from motion
- real time
- data association
- robot navigation
- particle filter
- object detection
- kalman filter
- dynamic environments
- reinforcement learning
- indoor environments
- real environment