Loop closure detection of visual SLAM based on variational autoencoder.
Shibin SongFengjie YuXiaojie JiangJie ZhuWeihao ChengXiao FangPublished in: Frontiers Neurorobotics (2023)
Keyphrases
- loop closure
- visual slam
- simultaneous localization and mapping
- bundle adjustment
- mobile robot
- structure from motion
- camera motion
- dynamic environments
- real time
- optical flow
- mobile robotics
- point correspondences
- monocular camera
- data association
- indoor environments
- kalman filter
- particle filter
- multi view
- outdoor environments
- error accumulation
- moving objects