Wi-Closure: Reliable and Efficient Search of Inter-robot Loop Closures Using Wireless Sensing
Weiying Wang,Anne Kemmeren,Daniel Son,Javier Alonso-Mora,Stephanie Gil,Weiying Wang,Anne Kemmeren,Daniel Son,Javier Alonso-Mora,Stephanie Gil
In this paper we propose a novel algorithm, Wi-Closure, to improve the computational efficiency and robustness of loop closure detection in multi-robot SLAM. Our approach decreases the computational overhead of classical approaches by pruning the search space of potential loop closures, prior to evaluation by a typical multi-robot SLAM pipeline. Wi-Closure achieves this by identifying candidates t...
