AirLoop: Lifelong Loop Closure Detection
Dasong Gao,Chen Wang,Sebastian Scherer,Dasong Gao,Chen Wang,Sebastian Scherer
Loop closure detection is an important building block that ensures the accuracy and robustness of simultaneous localization and mapping (SLAM) systems. Due to their generalization ability, CNN-based approaches have received increasing attention. Although they normally benefit from training on datasets that are diverse and reflective of the environments, new environments often emerge after the mode...
