The revisiting problem in simultaneous localization and mapping: A survey on visual loop closure detection

KA Tsintotas, L Bampis… - IEEE Transactions on …, 2022 - ieeexplore.ieee.org
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 …

Visual place recognition: A survey

S Lowry, N Sünderhauf, P Newman… - ieee transactions on …, 2015 - ieeexplore.ieee.org
Visual place recognition is a challenging problem due to the vast range of ways in which the
appearance of real-world places can vary. In recent years, improvements in visual sensing …

maplab: An open framework for research in visual-inertial mapping and localization

T Schneider, M Dymczyk, M Fehr… - IEEE Robotics and …, 2018 - ieeexplore.ieee.org
Robust and accurate visual-inertial estimation is crucial to many of today's challenges in
robotics. Being able to localize against a prior map and obtain accurate and drift-free pose …

[PDF][PDF] Get out of my lab: Large-scale, real-time visual-inertial localization.

S Lynen, T Sattler, M Bosse, JA Hesch… - … Science and Systems, 2015 - researchgate.net
Accurately estimating a robot's pose relative to a global scene model and precisely tracking
the pose in real-time is a fundamental problem for navigation and obstacle avoidance tasks …

Seqnet: Learning descriptors for sequence-based hierarchical place recognition

S Garg, M Milford - IEEE Robotics and Automation Letters, 2021 - ieeexplore.ieee.org
Visual Place Recognition (VPR) is the task of matching current visual imagery from a camera
to images stored in a reference map of the environment. While initial VPR systems used …

Locus: Lidar-based place recognition using spatiotemporal higher-order pooling

K Vidanapathirana, P Moghadam… - … on Robotics and …, 2021 - ieeexplore.ieee.org
Place Recognition enables the estimation of a globally consistent map and trajectory by
providing non-local constraints in Simultaneous Localisation and Mapping (SLAM). This …

Real-time visual-inertial mapping, re-localization and planning onboard mavs in unknown environments

M Burri, H Oleynikova, MW Achtelik… - 2015 IEEE/RSJ …, 2015 - ieeexplore.ieee.org
In this work, we present an MAV system that is able to relocalize itself, create consistent
maps and plan paths in full 3D in previously unknown environments. This is solely based on …

Modest-vocabulary loop-closure detection with incremental bag of tracked words

KA Tsintotas, L Bampis, A Gasteratos - Robotics and Autonomous Systems, 2021 - Elsevier
A key feature in the context of simultaneous localization and mapping is loop-closure
detection, a process determining whether the current robot's environment perception …

Elasticity meets continuous-time: Map-centric dense 3D LiDAR SLAM

C Park, P Moghadam, JL Williams… - IEEE Transactions …, 2021 - ieeexplore.ieee.org
Map-centric SLAM utilizes elasticity as a means of loop closure. This approach reduces the
cost of loop closure while still providing large-scale fusion-based dense maps, when …

Fast loop-closure detection using visual-word-vectors from image sequences

L Bampis, A Amanatiadis… - … International Journal of …, 2018 - journals.sagepub.com
In this paper, a novel pipeline for loop-closure detection is proposed. We base our work on a
bag of binary feature words and we produce a description vector capable of characterizing a …