Data-driven Loop Closure Detection in Bathymetric Point Clouds for Underwater SLAM.
Jiarui TanIgnacio TorrobaYiping XieJohn FolkessonPublished in: CoRR (2022)
Keyphrases
- loop closure
- point cloud
- data driven
- bundle adjustment
- structure from motion
- simultaneous localization and mapping
- error accumulation
- outdoor environments
- stereo camera
- loop closing
- map building
- point sets
- mobile robot
- particle filter
- camera parameters
- computer vision
- point cloud data
- data association
- kalman filter
- dynamic environments
- image sequences
- robot navigation
- point correspondences
- camera motion
- missing data
- indoor environments
- mobile robotics
- object tracking