A Flexible and Efficient Loop Closure Detection Based on Motion Knowledge
Bingxi Liu Fulin Tang Yujie Fu Yanqun Yang Yihong Wu Bingxi Liu Fulin Tang Yujie Fu Yanqun Yang Yihong Wu
Loop closure detection (LCD) is an essential module for simultaneous localization and mapping (SLAM), which can correct accumulated errors after long-term explorations. The widely used bag-of-words (BoW) model can not satisfy well the requirements of both low time consumption and high accuracy for a mobile platform. In this paper, we propose a novel LCD algorithm based on motion knowledge. We give...