A comparison of loop closing techniques in monocular SLAM
نویسندگان
چکیده
Loop closure detection systems for monocular SLAM come in three broad categories: (i) map-to-map, (ii) image-to-image and (iii) image-to-map. In this paper, we have chosen an implementation of each and performed experiments allowing the three approaches to be compared. The sequences used include both indoor and outdoor environments and single and multiple loop trajectories. © 2009 Elsevier B.V. All rights reserved.
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عنوان ژورنال:
- Robotics and Autonomous Systems
دوره 57 شماره
صفحات -
تاریخ انتشار 2009