Towards View-invariant and Accurate Loop Detection Based on Scene Graph
Chuhao Liu,Shaojie Shen,Chuhao Liu,Shaojie Shen
Loop detection plays a key role in visual Si-multaneous Localization and Mapping (SLAM) by correcting the accumulated pose drift. In indoor scenarios, the richly distributed semantic landmarks are view-point invariant and hold strong descriptive power in loop detection. The current semantic-aided loop detection embeds the topology between semantic instances to search a loop. However, current seman...
