Based on a monocular camera, we propose a closed-loop detection algorithm based on an improved real-time updating bag-of-words model.
The experimental results show that the error between the predicted trajectory and the real trajectory of the ORB-SLAM3 system combined with the improved ...
Jan 6, 2023 · Based on a monocular camera, we propose a closed-loop detection algorithm based on an improved real-time updating bag-of-words model. By ...
[17] proposed a loop closure detection algorithm based on an enhanced real-time updating bag-of-words model. By extracting feature descriptors from online ...
High performance loop closure detection using bag of word pairs
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We propose a new method for loop closure detection for topological mapping. It uses relative spatial co-occurrence information to improve the performance.
Dec 9, 2024 · In reference [21] , Liu and Duan proposed a loop closure detection algorithm combining a convolutional neural network and bag-of-words. AlexNet ...
The proposed system adds closed-loop detection with the bag of words model ... So, it allows users to continuously update the reconstructed model in real-time by ...
Jul 22, 2024 · This paper presents an online loop closure detection approach for large-scale and long-term operation. The approach is based on a memory management method.
Bag-of-words based loop-closure detection in visual SLAM
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The loop-closure detection module in visual SLAM eliminates cumulative error from the front-end by detecting the fact that the camera passes through the ...
Nov 16, 2021 · To solve this problem, a real-time closed-loop detection method based on a dynamic Siamese networks is proposed in this paper. First, a dynamic ...