Combining Visual and Spatial Appearance for Loop Closure Detection in SLAM. Kin Leong Ho, Paul Newman Oxford University Robotics Research Group. Motivation. Loop Closing – the task of deciding whether a vehicle has returned to a previously visited area
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Combining Visual and Spatial Appearance for Loop Closure Detection in SLAM
Kin Leong Ho, Paul Newman
Oxford University Robotics Research Group
Image Feature Extraction Process
Demonstration of wide-baseline stability of visually salient features under perspective distortion and variation in illumination conditions
Similar posters found in the environment.
Results from Image Retrieval System
Limitations of Image Matching
Original Laser Scan
Set of Descriptors
Arc length of Segment
Histogram of Turning Angle