Appearance-based Loop Closure Detection via Bidirectional Manifold Representation Consensus
Kaining Zhang Zizhuo Li Jiayi Ma Kaining Zhang Zizhuo Li Jiayi Ma
Loop closure detection (LCD), which aims to deal with the drift emerging when robots travel around the route, plays a key role in a simultaneous localization and mapping system. Unlike most current methods which focus on seeking an appropriate representation of images, we propose a novel two-stage pipeline dominated by the estimation of spatial geometric relationship. When a query image occurs, we...