Shape BoW: Generalized Bag of Words for Appearance-Based Loop Closure Detection in Bathymetric SLAM.
Qianyi ZhangJinwhan KimPublished in: IEEE Robotics Autom. Lett. (2024)
Keyphrases
- bag of words
- loop closure
- simultaneous localization and mapping
- error accumulation
- bundle adjustment
- image classification
- visual words
- text classification
- outdoor environments
- action recognition
- n gram
- mobile robot
- image representation
- dynamic environments
- structure from motion
- kalman filter
- data association
- spatial pyramid matching
- map building
- robot navigation
- mobile robotics
- object detection
- machine learning
- object tracking
- visual features
- indoor environments
- scene classification
- particle filter
- topological map
- object recognition
- face recognition