Multi-Model Hypothesize-and-Verify Approach for Incremental Loop Closure Verification

6 Aug 2016Kanji Tanaka

Loop closure detection, which is the task of identifying locations revisited by a robot in a sequence of odometry and perceptual observations, is typically formulated as a visual place recognition (VPR) task. However, even state-of-the-art VPR techniques generate a considerable number of false positives as a result of confusing visual features and perceptual aliasing... (read more)

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