Tree of Words for Visual Loop Closure Detection in Urban SLAM

@inproceedings{Callmer2008TreeOW,
  title={Tree of Words for Visual Loop Closure Detection in Urban SLAM},
  author={Jonas Callmer and Karl Granstr{\"o}m},
  year={2008}
}
This paper introduces vision based loop closure detection in Simultaneous Localisation And Mapping (SLAM) using Tree of Words. The loop closure performance in a complex urban environment is examined and an additional feature is suggested for safer matching. A SLAM ground experiment in an urban area is performed using Tree of Words, a delayed state information filter and planar laser scans for relative pose estimation. Results show that a good map estimation using our vision based loop closure… CONTINUE READING
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