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Appearance-based loop closure detection combining lines and learned points for low-textured environments.
Joan P. Company-Corcoles
Emilio Garcia-Fidalgo
Alberto Ortiz
Published in:
Auton. Robots (2022)
Keyphrases
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loop closure
object detection
bundle adjustment
simultaneous localization and mapping
error accumulation
outdoor environments
dynamic environments
feature points
hough transform
map building
real world
mobile robot
structure from motion
computer vision
reinforcement learning