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A comparison of loop closing techniques in monocular SLAM

Abstract:
Loop closure detection systems for monocular SLAM come in three broad categories: (i) map-to-map, (ii) image-to-image and (iii) image-to-map. In this paper, we have chosen an implementation of each and performed experiments allowing the three approaches to be compared. The sequences used include both indoor and outdoor environments and single and multiple loop trajectories. © 2009 Elsevier B.V. All rights reserved.
Publication status:
Published

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Publisher copy:
10.1016/j.robot.2009.06.010

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Volume:
57
Issue:
12
Pages:
1188-1197
Host title:
ROBOTICS AND AUTONOMOUS SYSTEMS
Publication date:
2009-12-31
DOI:
ISSN:
0921-8890
Source identifiers:
65811
Keywords:
Pubs id:
pubs:65811
UUID:
uuid:166ff6ee-e580-420d-93c1-573ccb22be72
Local pid:
pubs:65811
Deposit date:
2012-12-19

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