A Lightweight Neural Network for Loop Closure Detection in Indoor Visual SLAM.
Deyang ZhouYazhe LuoQinhan ZhangYing XuDiansheng ChenXiaochuan ZhangPublished in: Int. J. Comput. Intell. Syst. (2023)
Keyphrases
- lightweight
- loop closure
- visual slam
- simultaneous localization and mapping
- indoor environments
- outdoor environments
- bundle adjustment
- mobile robot
- dynamic environments
- kalman filter
- mobile robotics
- structure from motion
- real time
- particle filter
- multi view
- object detection
- wireless sensor networks
- d objects
- camera motion
- data association
- error accumulation