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Fast Loop Closure Detection via Binary Content [article]

Han Wang, Juncheng Li, Maopeng Ran, Lihua Xie
2020 arXiv   pre-print
In this paper we leverage and compress the information into a binary image to accelerate an existing fast loop closure detection method via binary content.  ...  It consists of three parts: binary content construction, fast image retrieval and precise loop closure detection. No offline training is required.  ...  CONCLUSION In this paper, we have presented a fast loop closure detection method via binary content.  ... 
arXiv:2002.10622v1 fatcat:o6ndhdu6ibfmdhi64sanct7oaa

OpenFABMAP: An open source toolbox for appearance-based loop closure detection

Arren Glover, William Maddern, Michael Warren, Stephanie Reid, Michael Milford, Gordon Wyeth
2012 2012 IEEE International Conference on Robotics and Automation  
Appearance-based Loop Closure A common problem in metric SLAM is the detection of loop closure events [6] .  ...  The loop closures detected for OpenFABMAP on the New College 1 dataset at 100% precision [19] . The visual comparison of this image to [18] shows similar results. B. St.  ... 
doi:10.1109/icra.2012.6224843 dblp:conf/icra/GloverMWRMW12 fatcat:5gqq2x3gazbanlotcgahopkr3a

Binary Graph Descriptor for Robust Relocalization on Heterogeneous Data

Xi Wang, Marc Christie, Eric Marchand
2022 IEEE Robotics and Automation Letters  
RELATED WORK Loop Detection Methods Mainstream loop closure methods can be divided into two categories: feature-based and imagebased.  ...  Our descriptor also provides a generic way to exploit the inverted indexing on DNN outputs for fast loop detection tasks.  ... 
doi:10.1109/lra.2022.3142854 fatcat:zlcsyppqjvdfxbhvn3zyg7ghdi

Tracking‐DOSeqSLAM: A dynamic sequence‐based visual place recognition paradigm

Konstantinos A. Tsintotas, Loukas Bampis, Antonios Gasteratos, FIET
2021 IET Computer Vision  
One of its most important components is its ability to associate the most recently perceived visual measurement to the one derived from previsited locations, a technique widely known as loop closure detection  ...  In this article, we evolve our previous approach, dubbed as 'DOSeqSLAM' by presenting a low complexity loop closure detection pipeline wherein the traversed trajectory (map) is represented by sequencebased  ...  F I G U R E 1 An overview of the proposed sequence-based loop closure detection framework.  ... 
doi:10.1049/cvi2.12041 fatcat:y6zobzfncresnkko3nt435yika

Fast and Incremental Loop Closure Detection with Deep Features and Proximity Graphs [article]

Shan An, Haogang Zhu, Dong Wei, Konstantinos A. Tsintotas, Antonios Gasteratos
2022 arXiv   pre-print
closure detection pipeline named "FILD++" (Fast and Incremental Loop closure Detection).First, the system is fed by consecutive images and, via passing them twice through a single convolutional neural  ...  robotics community has extensively examined methods concerning the place recognition task within the scope of simultaneous localization and mapping applications.This article proposes an appearance-based loop  ...  An Incremental bag of BInary words for Appearance based Loop closure Detection (IBuILD) was formulated in [40] .  ... 
arXiv:2010.11703v2 fatcat:5ptyfrq25vfwbmkxfszh3yhjmq

The Revisiting Problem in Simultaneous Localization and Mapping: A Survey on Visual Loop Closure Detection [article]

Konstantinos A. Tsintotas, Loukas Bampis, Antonios Gasteratos
2022 arXiv   pre-print
The article aims to serve as a tutorial and a position paper for newcomers to visual loop closure detection.  ...  In this article, visual loop closure detection, which formulates a solution based solely on appearance input data, is surveyed.  ...  STRUCTURE OF A VISUAL LOOP CLOSURE DETECTION SYSTEM A loop closure detection system's generic block diagram is depicted in Fig. 5 .  ... 
arXiv:2204.12831v1 fatcat:x7rmwmzhwfbwhhyxg6e6k5aq5u

Fire detection of Unmanned Aerial Vehicle in a Mixed Reality-based System

Shabnam Sadeghi Esfahlani, Silvia Cirstea, Alireza Sanaei, Marcian Cirstea
2018 IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society  
The observation and data analysis confirmed that the UAV could successfully detect fire and flame, fly towards and hover around it.  ...  This paper presents a system that combines robotic operating system (ROS) and computer vision techniques for fire detection in a mixed reality environment.  ...  Fig. 3 . 3 The trajectories and sparse reconstruction of the sequences with multiple loop closures.  ... 
doi:10.1109/iecon.2018.8592764 dblp:conf/iecon/EsfahlaniCSC18 fatcat:ugslqqx34vhidbsxpuc6bjvtma

SVG-Loop: Semantic–Visual–Geometric Information-Based Loop Closure Detection

Zhian Yuan, Ke Xu, Xiaoyu Zhou, Bin Deng, Yanxin Ma
2021 Remote Sensing  
Loop closure detection is an important component of visual simultaneous localization and mapping (SLAM).  ...  However, most existing loop closure detection methods are vulnerable to complex environments and use limited information from images.  ...  Incremental bag of binary words for appearance-based loop closure detection (IBuILD) was proposed in [35] .  ... 
doi:10.3390/rs13173520 doaj:23de87f2c2584ad0863033039e1af32c fatcat:qcvcljaka5c3flrn6qrzfj32je

RETRIEVING STEREO IMAGE USING VISUAL WORD PAIRS WITH CONVOLUTION NEURAL NETWORK

Rachakonda Swetha, Ganta Raghotham Reddy
2020 Indian Journal of Computer Science and Engineering  
Ignoring the visual content as a ranking indicator can result in inconsistencies between the words and the visual content with the selection technique.  ...  The user can test it via visualization when a loop closure has been detected.  ...  The user can test it via visualization when a loop closure has been detected. The program will notify the user whether the registration error happens and the user will re-start.  ... 
doi:10.21817/indjcse/2020/v11i5/201105148 fatcat:jdqzsjixergcbi2xrjtdqvmbmi

Highly scalable appearance-only SLAM - FAB-MAP 2.0

M. Cummins, P. Newman
2009 Robotics: Science and Systems V  
The system is demonstrated performing reliable online appearance mapping and loop closure detection over a 1,000 km trajectory, with mean filter update times of 14 ms.  ...  Recall is the ratio of true positive loop closure detections to the number of ground truth loop closures.  ...  Precision is defined as the ratio of true positive loop closure detections to total detections.  ... 
doi:10.15607/rss.2009.v.039 dblp:conf/rss/CumminsN09 fatcat:ruder2dqlfan5pyvgdlkoyqwxm

Visual SLAM Based Spatial Recognition and Visualization Method for Mobile AR Systems

Jooeun Song, Joongjin Kook
2022 Applied System Innovation  
However, due to the absence of an open source-based SLAM library for developing AR content, most SLAM researchers are required to conduct their own research and development to customize SLAM.  ...  by using a very fast binary descriptor, BRIEF.  ...  accelerates the overall image feature extraction by using a very fast binary descriptor, BRIEF.  ... 
doi:10.3390/asi5010011 fatcat:vfgwm65mmrcgrm3cwsmjsqqdhq

SLAM++: Simultaneous Localisation and Mapping at the Level of Objects

Renato F. Salas-Moreno, Richard A. Newcombe, Hauke Strasdat, Paul H.J. Kelly, Andrew J. Davison
2013 2013 IEEE Conference on Computer Vision and Pattern Recognition  
We demonstrate real-time incremental SLAM in large, cluttered environments, including loop closure, relocalisation and the detection of moved objects, and of course the generation of an object level scene  ...  We present the major advantages of a new 'object oriented' 3D SLAM paradigm, which takes full advantage in the loop of prior knowledge that many scenes consist of repeated, domain-specific objects and  ...  Larger loop closures (see Figure 7) , where the drift is too much to enable matching via predictive ICP, are detected using a module on based matching fragments within the main long-term graph in the  ... 
doi:10.1109/cvpr.2013.178 dblp:conf/cvpr/Salas-MorenoNSKD13 fatcat:xgdykknqgrgvzkfb5pqqr4rkk4

Sequence-based sparse optimization methods for long-term loop closure detection in visual SLAM

Fei Han, Hua Wang, Guoquan Huang, Hao Zhang
2018 Autonomous Robots  
closure detection.  ...  A loop closure is detected when the current place is recognized to match the previous visited places.  ...  A bag of binary words based on BRIEF and FAST features were used to perform fast place recognition (Gálvez-López and Tardós 2012).  ... 
doi:10.1007/s10514-018-9736-3 fatcat:iqtgxtohr5bu7mk5i7lcoxrpuq

FAB-MAP: Appearance-Based Place Recognition and Mapping using a Learned Visual Vocabulary Model

Mark Joseph Cummins, Paul M. Newman
2010 International Conference on Machine Learning  
We demonstrate the system performing reliable online appearance mapping and loop closure detection over a 1,000 km trajectory, with mean filter update times of 14 ms.  ...  Introduction This paper reviews FAB-MAP (Fast Appearance Based Mapping), a technique for place recognition and mapping developed for mobile robotics applications.  ...  Olson described an approach to increasing the robustness of general loop closure detection systems by using both appearance and relative metric information to select a single consistent set of loop closures  ... 
dblp:conf/icml/CumminsN10 fatcat:3ibaxqp7rbgebpvuxacjot3eci

ORB-SLAM: A Versatile and Accurate Monocular SLAM System

Raul Mur-Artal, J. M. M. Montiel, Juan D. Tardos
2015 IEEE Transactions on robotics  
A survival of the fittest strategy that selects the points and keyframes of the reconstruction leads to excellent robustness and generates a compact and trackable map that only grows if the scene content  ...  The system is robust to severe motion clutter, allows wide baseline loop closing and relocalization, and includes full automatic initialization.  ...  and loop detection.  ... 
doi:10.1109/tro.2015.2463671 fatcat:brdebuvumfhmxhhg4tknbrs26m
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