Loop closure detection in SLAM by combining visual and spatial appearance

@article{Ho2006LoopCD,
  title={Loop closure detection in SLAM by combining visual and spatial appearance},
  author={Kin Leong Ho and Paul Newman},
  journal={Robotics and Autonomous Systems},
  year={2006},
  volume={54},
  pages={740-749}
}
In this paper we describe a system for use on a mobile robot that detects potential loop closures using both visual and spatial appearance of local scenes. Loop closing is the act of correctly asserting that a vehicle has returned to a previously visited location. Current approaches rely heavily on vehicle pose estimates to prompt loop closure. Paradoxically, these approaches are least reliable when the need for accurate loop closure detection is the greatest. Our underlying approach relies… CONTINUE READING
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