SSGM: Spatial Semantic Graph Matching for Loop Closure Detection in Indoor Environments.
Yujie TangMeiling WangYinan DengYi YangYufeng YuePublished in: IROS (2023)
Keyphrases
- graph matching
- indoor environments
- loop closure
- outdoor environments
- simultaneous localization and mapping
- mobile robot
- graph matching algorithm
- pattern recognition
- graph edit distance
- pairwise
- path planning
- object recognition
- point sets
- matching algorithm
- robotic systems
- object detection
- error accumulation
- inexact graph matching
- bundle adjustment
- topological map
- pattern matching
- three dimensional
- surveillance system
- image matching
- semi supervised
- similarity measure
- image processing
- machine learning