Leveraging Semantics in Appearance based Loop Closure Detection for Long-Term Visual SLAM.
Saba ArshadGon-Woo KimPublished in: BigComp (2023)
Keyphrases
- loop closure
- simultaneous localization and mapping
- visual slam
- bundle adjustment
- mobile robot
- dynamic environments
- kalman filter
- data association
- structure from motion
- particle filter
- indoor environments
- mobile robotics
- outdoor environments
- visual odometry
- multi view
- object detection
- camera parameters
- error accumulation
- point correspondences
- robot navigation
- closed form
- real environment
- computer vision
- motion model
- camera motion
- augmented reality
- least squares
- semi supervised
- image sequences