2021 IEEE International Symposium on Circuits and Systems (ISCAS) 2021
DOI: 10.1109/iscas51556.2021.9401368
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Adaptive Real-Time Loop Closure Detection Based on Image Feature Concatenation

Abstract: Simultaneous Localization and Mapping (SLAM) is used to solve the problem of autonomous localization and navigation of mobile robots in unknown environments. Loop closure detection is a key part of SLAM, which largely determines accuracy and stability of SLAM. In recent years, some experiments have proved that the loop closure detection system based on neural network is superior to the traditional loop closure detection in both accuracy and real-time performance. In this paper, we propose an adaptive real-time… Show more

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