Underwater Loop-Closure Detection for Mechanical Scanning Imaging Sonar by Filtering the Similarity Matrix With Probability Hypothesis Density Filter.
Min JiangXisheng FengSanming SongJ. Michael HerrmannJi-Hong LiYiping LiZhiqiang HuZhigang LiJian LiuShuo LiPublished in: IEEE Access (2019)
Keyphrases
- loop closure
- similarity matrix
- mobile robot
- simultaneous localization and mapping
- error accumulation
- high resolution
- pairwise
- spectral clustering
- map building
- outdoor environments
- bundle adjustment
- autonomous underwater vehicle
- similarity measure
- co occurrence
- object detection
- image processing
- latent semantic indexing
- robot navigation
- structure from motion
- clustering algorithm
- multiscale