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Towards Robust Loop Closure Detection in Weakly Textured Environments using Points and Lines.

Joan P. Company-CorcolesEmilio Garcia-FidalgoAlberto Ortiz
Published in: ETFA (2020)
Keyphrases
  • loop closure
  • object detection
  • robust estimation
  • bundle adjustment
  • error accumulation
  • real world
  • feature points
  • closed form
  • autonomous robots