Loop Closing Detection in RGB-D SLAM Combining Appearance and Geometric Constraints.
Heng ZhangYanli LiuJindong TanPublished in: Sensors (2015)
Keyphrases
- loop closing
- geometric constraints
- loop closure
- simultaneous localization and mapping
- geometric consistency
- mobile robot
- indoor environments
- epipolar geometry
- outdoor environments
- error accumulation
- camera calibration
- map building
- bundle adjustment
- multiple images
- mobile robotics
- appearance model
- topological map
- robot navigation
- visual odometry
- dynamic environments
- machine learning