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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
Publication date:
2009-12-31
DOI:
ISSN:
0921-8890
URN:
uuid:166ff6ee-e580-420d-93c1-573ccb22be72
Source identifiers:
65811
Local pid:
pubs:65811

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