4 accepted papers
A key feature in robotics applications is to recognize whether the current environment observation corresponds to a previously visited location. Should the place be recognized by the robot, a Loop Closure Detection (LCD) has occurred. The letter in hand deploys a novel low complexity LCD method base
Place recognition of pre-visited areas, widely known as Loop Closure Detection (LCD), constitutes one of the most important components in robotic applications, where the robot needs to estimate its pose while navigating through the field (e.g., simultaneous localization and mapping). In this paper,…
In the field of loop closure detection, the most conventional approach is based on the Bag-of-Visual-Words (BoVW) image representation. Although well-established, this model rejects the spatial information regarding the local feature points' layout and performs the associations based only on their s…
In this paper we propose a novel technique for detecting loop closures on a trajectory by matching sequences of images instead of single instances. We build upon well established techniques for creating a bag of visual words with a tree structure and we introduce a significant novelty by extending t…