Jorg S. Wicker

Closing the Loop: Graph Networks to Unify Semantic Objects and Visual Features for Multi-object Scenes

In Simultaneous Localization and Mapping (SLAM), Loop Closure Detection (LCD) is essential to minimize drift when recognizing previously visited places. Visual Bag- of-Words (vBoW) has been an LCD algorithm of choice for many state-of-the-art SLAM systems. It uses a set of visual features to provide…