Gaussian Process Gradient Maps for Loop-Closure Detection in Unstructured Planetary Environments
Cedric Le Gentil,Mallikarjuna Vayugundla,Riccardo Giubilato,Wolfgang Stürzl,Teresa Vidal-Calleja,Rudolph Triebel,Cedric Le Gentil,Mallikarjuna Vayugundla,Riccardo Giubilato,Wolfgang Stürzl,Teresa Vidal-Calleja,Rudolph Triebel
The ability to recognize previously mapped locations is an essential feature for autonomous systems. Unstructured planetary-like environments pose a major challenge to these systems due to the similarity of the terrain. As a result, the ambiguity of the visual appearance makes state-of-the-art visual place recognition approaches less effective than in urban or man-made environments. This paper pre...
