Loop Closure Detection and SLAM in Vineyards with Deep Semantic Cues
Alexios Papadimitriou,Ioannis Kleitsiotis,Ioannis Kostavelis,Ioannis Mariolis,Dimitrios Giakoumis,Spiriden Likothanassis,Dimitrios Tzovaras,Alexios Papadimitriou,Ioannis Kleitsiotis,Ioannis Kostavelis,Ioannis Mariolis,Dimitrios Giakoumis,Spiriden Likothanassis,Dimitrios Tzovaras
Automation of vineyards cultivation necessitates for mobile robots to retain accurate localization system. The paper introduces a stereo vision-based Graph-Simultaneous Localization and Mapping (Graph-SLAM) pipeline custom-tailored to the specificities of vineyard fields. Graph-SLAM is reinforced with a Loop Closure Detection (LCD) based on semantic segmentation of the vine trees. The Mask R-CNN n...
