An End-To-End Siamese Convolutional Neural Network for Loop Closure Detection in Visual Slam System.
Hong LiuChenyang ZhaoWeipeng HuangWei ShiPublished in: ICASSP (2018)
Keyphrases
- end to end
- loop closure
- visual slam
- simultaneous localization and mapping
- convolutional neural network
- bundle adjustment
- mobile robot
- dynamic environments
- real time
- face detection
- particle filter
- detection method
- structure from motion
- kalman filter
- mobile robotics
- data association
- camera motion
- detection algorithm
- least squares
- neural network
- camera parameters
- autonomous navigation
- real world