Closing Loops Without Places

Conference item

This paper proposes a new topo-metric representation of the world based on co-visibility that simplifies data association and improves the performance of appearance-based recognition. We introduce the concept of dynamic bag-of-words, which is a novel form of query expansion based on finding cliques in the landmark co-visibility graph. The proposed approach avoids the - often arbitrary - discretisation of space from the robot's trajectory that is common to most image-based loop closure algorit...

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Authors: Mei, C; Sibley, G; Newman, P; IEEE

• Publication status: Published
• Host title: IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010)
• Pages: 3738-3744
• Publication date: 2010-01-01
• DOI: 10.1109/IROS.2010.5652266
• ISSN: 2153-0858
• ISBN: 9781424466757