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Detecting loop closure with scene sequences

Abstract:

This paper is concerned with "loop closing" for mobile robots. Loop closing is the problem of correctly asserting that a robot has returned to a previously visited area. It is a particularly hard but important component of the Simultaneous Localization and Mapping (SLAM) problem. Here a mobile robot explores an a-priori unknown environment performing on-the-fly mapping while the map is used to localize the vehicle. Many SLAM implementations look to internal map and vehicle estimates (p.d.fs) ...

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Publication status:
Published

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Publisher copy:
10.1007/s11263-006-0020-1

Authors


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Institution:
University of Oxford
Department:
Oxford, MPLS, Engineering Science
Role:
Author
Journal:
INTERNATIONAL JOURNAL OF COMPUTER VISION
Volume:
74
Issue:
3
Pages:
261-286
Publication date:
2007-09-05
DOI:
EISSN:
1573-1405
ISSN:
0920-5691
URN:
uuid:8bd23996-a820-4bd6-a1c7-20662e160fb8
Source identifiers:
65731
Local pid:
pubs:65731

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