Proving the existence of loops in robot trajectories

  title={Proving the existence of loops in robot trajectories},
  author={Simon Rohou and Peter Franek and Cl{\'e}ment Aubry and Luc Jaulin},
  journal={I. J. Robotics Res.},
In this paper we present a reliable method to verify the existence of loops along the uncertain trajectory of a robot, based on proprioceptive measurements only, within a bounded-error context. The loop closure detection is one of the key points in simultaneous localization and mapping (SLAM) methods, especially in homogeneous environments with difficult scenes recognitions. The proposed approach is generic and could be coupled with conventional SLAM algorithms to reliably reduce their… CONTINUE READING
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