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   Articles with "closure detection" as a keyword



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Corrigendum for “Fast and incremental loop closure detection with deep features and proximity graphs”

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recommendations! Published in 2023 at "Journal of Field Robotics"

DOI: 10.1002/rob.22137

Abstract: In the published article, on page 4, a sentence is appearing as “The score map learning process is the same as the original version.” should be read as “The score map learning process is the… read more here.

Keywords: detection deep; incremental loop; deep features; fast incremental ... See more keywords

Convolutional Autoencoder aided loop closure detection for monocular SLAM

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recommendations! Published in 2018 at "IFAC-PapersOnLine"

DOI: 10.1016/j.ifacol.2018.09.486

Abstract: Abstract A correct loop closure detection is an important component of a robust SLAM (simultaneous localization and mapping) system. Loop closing refers to the process of correctly asserting that a mobile robot has returned to… read more here.

Keywords: closure; loop closure; convolutional autoencoder; autoencoder aided ... See more keywords
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A novel fusing semantic- and appearance-based descriptors for visual loop closure detection

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recommendations! Published in 2021 at "Optik"

DOI: 10.1016/j.ijleo.2021.167230

Abstract: Abstract Loop-closure detection plays an important role in visual simultaneous localisation and mapping;it is an independent part of the visual odometer and can effectively reduce its accumulated error, in addition to helping with loop-closure detection… read more here.

Keywords: appearance; loop closure; novel fusing; closure detection ... See more keywords

A visual SLAM loop closure detection method based on lightweight siamese capsule network

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recommendations! Published in 2025 at "Scientific Reports"

DOI: 10.1038/s41598-025-90511-4

Abstract: Loop closure detection is a key module in visual SLAM. During the robot’s movement, the cumulative error of the robot is reduced by the loop closure detection method, which can provide constraints for the back-end… read more here.

Keywords: loop closure; closure detection; slam; method ... See more keywords

Gridding place recognition for fast loop closure detection on mobile platforms

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recommendations! Published in 2019 at "Electronics Letters"

DOI: 10.1049/el.2019.1148

Abstract: Loop closure detection is an indispensable component to reduce the error accumulation in localisation applications, however, it is hard to be implemented as a real-time application with high accuracy on the mobile platform. A place… read more here.

Keywords: loop closure; place recognition; closure detection; closure ... See more keywords

LiDAR-IMU Tightly-Coupled SLAM Method Based on IEKF and Loop Closure Detection

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recommendations! Published in 2024 at "IEEE Journal of Selected Topics in Applied Earth Observations and Remote Sensing"

DOI: 10.1109/jstars.2024.3357536

Abstract: Simultaneous Localization and Mapping (SLAM) technology based on LiDAR can achieve real-time robot positioning and establish environmental maps in unknown environments. LiDAR odometry can achieve accurate pose estimation in short distances or small-scale environments, but… read more here.

Keywords: loop closure; closure detection; slam; lidar ... See more keywords

iBoW-LCD: An Appearance-Based Loop-Closure Detection Approach Using Incremental Bags of Binary Words

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recommendations! Published in 2018 at "IEEE Robotics and Automation Letters"

DOI: 10.1109/lra.2018.2849609

Abstract: In this letter, we introduce iBoW-LCD, a novel appearance-based loop-closure detection method. The presented approach makes use of an incremental bag-of-words (BoW) scheme based on binary descriptors to retrieve previously seen similar images, avoiding any… read more here.

Keywords: appearance based; loop closure; based loop; ibow lcd ... See more keywords

ESA-VLAD: A Lightweight Network Based on Second-Order Attention and NetVLAD for Loop Closure Detection

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recommendations! Published in 2021 at "IEEE Robotics and Automation Letters"

DOI: 10.1109/lra.2021.3094228

Abstract: Loop closure detection (LCD) is an important portion of Simultaneous Localization and Mapping (SLAM) because of its ability to reduce accumulated position errors. In this letter, we propose a novel loop closure detection algorithm named… read more here.

Keywords: loop closure; closure detection; closure; esa vlad ... See more keywords

PADLoC: LiDAR-Based Deep Loop Closure Detection and Registration Using Panoptic Attention

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recommendations! Published in 2022 at "IEEE Robotics and Automation Letters"

DOI: 10.1109/lra.2023.3239312

Abstract: A key component of graph-based SLAM systems is the ability to detect loop closures in a trajectory to reduce the drift accumulated over time from the odometry. Most LiDAR-based methods achieve this goal by using… read more here.

Keywords: lidar based; detection registration; registration; loop closure ... See more keywords

Intensity Triangle Descriptor Constructed From High-Resolution Spinning LiDAR Intensity Image for Loop Closure Detection

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recommendations! Published in 2024 at "IEEE Robotics and Automation Letters"

DOI: 10.1109/lra.2024.3455851

Abstract: LiDAR-based loop closure detection is a crucial part of realizing robust SLAM algorithms for intelligent vehicles with LiDAR sensors. Existing methods often reduce the keypoint dimension to encode the global descriptor, which sacrifices the freedom… read more here.

Keywords: detection; loop closure; intensity; image ... See more keywords

I2KEN: Intra-Domain and Inter-Domain Knowledge Enhancement Network for Lifelong Loop Closure Detection

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recommendations! Published in 2025 at "IEEE Robotics and Automation Letters"

DOI: 10.1109/lra.2025.3588038

Abstract: Loop closure detection (LCD) is crucial for robotic systems as it corrects accumulated pose estimation errors. Existing LCD methods mainly rely on data training of specific scenarios, which leads these methods to struggle to achieve… read more here.

Keywords: loop closure; knowledge; closure detection; domain knowledge ... See more keywords