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GV-Bench: Benchmarking Local Feature Matching for Geometric Verification of Long-term Loop Closure Detection.

Jingwen YuHanjing YeJianhao JiaoPing TanHong Zhang
Published in: CoRR (2024)
Keyphrases
  • long term
  • loop closure
  • object detection
  • dynamic programming
  • error accumulation
  • real time
  • image sequences
  • viewpoint
  • least squares
  • maximum likelihood
  • path planning
  • simultaneous localization and mapping