Laura Alejandra Encinar Gonzalez

Multi-Modal Loop Closure Detection with Foundation Models in Severely Unstructured Environments

Robust loop closure detection is a critical component of Simultaneous Localization and Mapping (SLAM) algorithms in GNSS-denied environments, such as in the context of planetary exploration. In these settings, visual place recognition often fails due to aliasing and weak textures, while LiDAR-based …