Appearance-Based Loop Closure Detection for Online Large-Scale and Long-Term Operation

  title={Appearance-Based Loop Closure Detection for Online Large-Scale and Long-Term Operation},
  author={Mathieu Labb{\'e} and François Michaud},
  journal={IEEE Transactions on Robotics},
In appearance-based localization and mapping, loop-closure detection is the process used to determinate if the current observation comes from a previously visited location or a new one. As the size of the internal map increases, so does the time required to compare new observations with all stored locations, eventually limiting online processing. This paper presents an online loop-closure detection approach for large-scale and long-term operation. The approach is based on a memory management… CONTINUE READING
Highly Influential
This paper has highly influenced 14 other papers. REVIEW HIGHLY INFLUENTIAL CITATIONS
Highly Cited
This paper has 147 citations. REVIEW CITATIONS
85 Citations
46 References
Similar Papers


Publications citing this paper.
Showing 1-10 of 85 extracted citations

148 Citations

Citations per Year
Semantic Scholar estimates that this publication has 148 citations based on the available data.

See our FAQ for additional information.


Publications referenced by this paper.
Showing 1-10 of 46 references

Similar Papers

Loading similar papers…