Motion Field Consensus with Locality Preservation: A Geometric Confirmation Strategy for Loop Closure Detection
Kaining Zhang,Xingyu Jiang,Xiaoguang Mei,Huabing Zhou,Jiayi Ma,Kaining Zhang,Xingyu Jiang,Xiaoguang Mei,Huabing Zhou,Jiayi Ma
Loop closure detection (LCD), which aims to deal with the drift emerging when robots travel around the route, plays a key role in a simultaneous localization and mapping system. Unlike most current methods which focus on seeking an appropriate representation of images, we propose a novel two-stage pipeline dominated by the estimation of spatial geometric relationship. When a query image occurs, we...
