Data-driven Loop Closure Detection in Bathymetric Point Clouds for Underwater SLAM.
Jiarui TanIgnacio TorrobaYiping XieJohn FolkessonPublished in: ICRA (2023)
Keyphrases
- loop closure
- point cloud
- data driven
- bundle adjustment
- structure from motion
- simultaneous localization and mapping
- error accumulation
- outdoor environments
- point sets
- mobile robot
- point cloud data
- kalman filter
- dynamic environments
- loop closing
- stereo camera
- map building
- robot navigation
- particle filter
- camera parameters
- missing data
- data association
- object detection
- d objects
- image sequences