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 …
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 …
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 …
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 …
Place Recognition enables the estimation of a globally consistent map and trajectory by providing non-local constraints in Simultaneous Localisation and Mapping (SLAM). This …
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 …
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 …
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 …
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 …