Combining Odometry and Visual Loop-Closure Detection for Consistent Topo-Metrical Mapping

@article{Bazeille2010CombiningOA,
  title={Combining Odometry and Visual Loop-Closure Detection for Consistent Topo-Metrical Mapping},
  author={St{\'e}phane Bazeille and David Filliat},
  journal={RAIRO - Operations Research},
  year={2010},
  volume={44},
  pages={365-377}
}
We address the problem of simultaneous localization and mapping (SLAM) by combining visual loop-closure detection with metrical information given by a robot odometry. The proposed algorithm extends a purely appearance-based loopclosure detection method based on bags of visual words [1] which is able to detect when the robot has returned back to a previously visited place. An efficient optimization algorithm is used to integrate odometry information in this method to generate a consistent topo… CONTINUE READING

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