Place recognition using line-junction-lines in urban environments

• Main Authors: Tang, Xiaoyu, Fu, Wenhao, Jiang, Muyun, Peng, Guohao, Wu, Zhenyu, Yue, Yufeng, Wang, Danwei
• Other Authors: School of Electrical and Electronic Engineering
• Format: Conference or Workshop Item
• Language: English
• Published: 2020
• Subjects: Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics; Place Recognition; Structural Information
• Online Access: https://hdl.handle.net/10356/141837
• Institution: Nanyang Technological University

Place recognition plays a vital role in eliminating accumulated drift from visual odometry in SLAM system. Bag- of-Words (BoW) -based approach is the most popular solution due to its efficiency and robustness. We propose to use Line- Junction-Line (LJL) to build a BoW for place recognition in urban...