SymbioLCD: Ensemble-Based Loop Closure Detection using CNN-Extracted Objects and Visual Bag-of-Words
Jonathan J.Y. Kim,Martin Urschler,Patricia J. Riddle,Jörg S. Wicker,Jonathan J.Y. Kim,Martin Urschler,Patricia J. Riddle,Jörg S. Wicker
Loop closure detection is an essential tool of Simultaneous Localization and Mapping (SLAM) to minimize drift in its localization. Many state-of-the-art loop closure detection (LCD) algorithms use visual Bag-of-Words (vBoW), which is robust against partial occlusions in a scene but cannot perceive the semantics or spatial relationships between feature points. CNN object extraction can address thos...
