Fast Loop Closure Detection via Binary Content

  title={Fast Loop Closure Detection via Binary Content},
  author={Han Wang and Juncheng Li and Maopeng Ran and Lihua Xie},
  journal={2019 IEEE 15th International Conference on Control and Automation (ICCA)},
  • Han Wang, Juncheng Li, Lihua Xie
  • Published 1 July 2019
  • Computer Science
  • 2019 IEEE 15th International Conference on Control and Automation (ICCA)
Loop closure detection plays an important role in reducing localization drift in Simultaneous Localization And Mapping (SLAM). It aims to find repetitive scenes from historical data to reset localization. To tackle the loop closure problem, existing methods often leverage on the matching of visual features, which achieve good accuracy but require high computational resources. However, feature point based methods ignore the patterns of image, i.e., the shape of the objects as well as the… 
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