Closing the Loop: Graph Networks to Unify Semantic Objects and Visual Features for Multi-object Scenes
Jonathan J.Y. Kim,Martin Urschler,Patricia J. Riddle,Jorg S. Wicker,Jonathan J.Y. Kim,Martin Urschler,Patricia J. Riddle,Jorg S. Wicker
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 robust place recognition but fails to perceive the semantics or spatial relationship between featur...
