• Published 2014

Physical Words for Place Recognition in Dense RGB-D Maps

@inproceedings{Finman2014PhysicalWF,
  title={Physical Words for Place Recognition in Dense RGB-D Maps},
  author={Ross Finman and Thomas Whelan and Liam Paull and John J. Leonard},
  year={2014}
}
Appearance-based place recognition systems have been shown to be effective for large-scale mapping but have notable shortcomings. Visual bag-of-words dictionaries require offline training, have tens of thousands of words, and are susceptible to changing environments, either due to lighting or physical changes, between training and deployment. Recent advances allow for online 3D mapping and segmentation using dense RGB-D data. Here we propose the natural extension of previous visual dictionaries… CONTINUE READING

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