Fast Structural Representation and Structure-aware Loop Closing for Visual SLAM
Shuxiang Xie,Ryoichi Ishikawa,Ken Sakurada,Masaki Onishi,Takeshi Oishi,Shuxiang Xie,Ryoichi Ishikawa,Ken Sakurada,Masaki Onishi,Takeshi Oishi
Perceptual Aliasing is one of the main problems in simultaneous localization and mapping (SLAM). Wrong associations between different places may lead to failure of the whole map. Research on structure information is rarely investigated among existing solutions to this problem. In cases of visual SLAM without sensors, such as LiDAR or Inertial Measurement Unit (IMU), structure information can rarel...
