Fast loop closure detection via binary content

• Main Authors: Wang, Han, Li, Juncheng, Ran, Maopeng, Xie, Lihua
• Other Authors: School of Electrical and Electronic Engineering
• Format: Conference or Workshop Item
• Language: English
• Published: 2020
• Subjects: Engineering::Electrical and electronic engineering; Loop Closure; Binary Content
• Online Access: https://hdl.handle.net/10356/138248
• Institution: Nanyang Technological University

Loop closure detection plays an important rolein reducing localization drift in Simultaneous LocalizationAnd Mapping (SLAM). It aims to find repetitive scenes fromhistorical data to reset localization. To tackle the loop closureproblem, existing methods often...