Loop-Closure Detection Using Local Relative Orientation Matching.

Jiayi Ma Xinyu Ye Huabing Zhou Xiaoguang Mei Fan Fan

Published in: IEEE Trans. Intell. Transp. Syst. (2022)

Keyphrases

loop closure
relative orientation
error accumulation
simultaneous localization and mapping
outdoor environments
bundle adjustment
focal length
matching algorithm
object recognition
object detection
mobile robot
maximum likelihood
structure from motion
event detection
map building