Hierarchical Loop Closure Detection for Long-term Visual SLAM with Semantic-Geometric Descriptors.

Gaurav Singh Meiqing Wu Siew-Kei Lam Do Van Minh

Published in: ITSC (2021)

Keyphrases

visual slam
loop closure
simultaneous localization and mapping
bundle adjustment
mobile robot
dynamic environments
kalman filter
particle filter
real time
camera motion
data association
multi view
mobile robotics
indoor environments
robot navigation
path planning
event detection
maximum likelihood