Where am I? This is one of the most critical questions that any intelligent system should
answer to decide whether it navigates to a previously visited area. This problem has long …

In this paper we describe a system for use on a mobile robot that detects potential loop
closures using both visual and spatial appearance of local scenes. Loop closing is the act of …

Loop closure detection is of vital importance in the process of simultaneous localization and
mapping (SLAM), as it helps to reduce the cumulative error of the robot's estimated pose and …

Within the context of Simultaneous Localisation and Mapping (SLAM),“loop closing” is the
task of deciding whether or not a vehicle has, after an excursion of arbitrary length, returned …

Visual SLAM (simultaneous localization and mapping) refers to the problem of using
images, as the only source of external information, in order to establish the position of a …

This paper presents a graph-based visual simultaneous localization and mapping (SLAM)
system using straight lines as features. Compared with point features, lines provide far richer …

This paper is concerned with “loop closing” for mobile robots. Loop closing is the problem of
correctly asserting that a robot has returned to a previously visited area. It is a particularly …

Loop closure detection or place recognition is a fundamental problem in robot simultaneous
localization and mapping (SLAM). SeqSLAM is considered to be one of the most successful …

Loop closure is necessary for correcting errors accumulated in simultaneous localization
and mapping (SLAM) in unknown environments. However, conventional loop closure …

Loop closure detection is the process involved when trying to find a match between the
current and a previously visited locations in SLAM. Over time, the amount of time required to …