TLCD: A Transformer based Loop Closure Detection for Robotic Visual SLAM.
Chenghao LiHongwei RenMinjie BiChenchen DingWenjie LiRumin ZhangXiaoguang LiuHao YuPublished in: ICARM (2022)
Keyphrases
- loop closure
- visual slam
- simultaneous localization and mapping
- mobile robot
- bundle adjustment
- real time
- particle filter
- indoor environments
- outdoor environments
- mobile robotics
- kalman filter
- dynamic environments
- camera motion
- object detection
- robot navigation
- data association
- real robot
- visual odometry
- error accumulation
- robotic systems
- path planning
- structure from motion
- computer vision