DH-LC: Hierarchical Matching and Hybrid Bundle Adjustment Towards Accurate and Robust Loop Closure
Xiongfeng Peng,Zhihua Liu,Qiang Wang,Yun-Tae Kim,Xiongfeng Peng,Zhihua Liu,Qiang Wang,Yun-Tae Kim
A loop closure module plays an important role in visual SLAM systems, which can reduce the accumulat-ed drift. This task faces the challenges of large viewpoint changes and expensive computational costs when optimizing the global map. This paper proposes DH-LC, a novel accurate and robust loop closure method that consists of hierarchical spatial feature matching (HSFM) and hybrid bundle adjustment...
