Fast-SeqSLAM: A fast appearance based place recognition algorithm

@article{Siam2017FastSeqSLAMAF,
  title={Fast-SeqSLAM: A fast appearance based place recognition algorithm},
  author={Sayem Mohammad Siam and Hong Zhang},
  journal={2017 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2017},
  pages={5702-5708}
}
Loop closure detection or place recognition is a fundamental problem in robot simultaneous localization and mapping (SLAM). SeqSLAM is considered to be one of the most successful algorithms for loop closure detection as it has been demonstrated to be able to handle significant environmental condition changes including those due to illumination, weather, and time of the day. However, SeqSLAM relies heavily on exhaustive sequence matching, a computationally expensive process that prevents the… CONTINUE READING

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