2026
A-SPAM: A Novel Asynchronous Semantic Padding and Matching Integrated Framework for Dynamic Loop Closure Detection
ICRA 2026poster
Loop closure detection in dynamic SLAM faces critical challenges when dynamic objects dominate camera views, degrading frame-to-frame methods reliant on static landmarks. We propose A-SPAM, an asynchronous framework that constructs spatiotemporal semantic graphs via semantic padding (entity tracking…