Journal
ROBOTICS AND AUTONOMOUS SYSTEMS
Volume 57, Issue 12, Pages 1188-1197Publisher
ELSEVIER SCIENCE BV
DOI: 10.1016/j.robot.2009.06.010
Keywords
Loop closing; Monocular SLAM; Submapping
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Loop closure detection systems for monocular SLAM come in three broad categories: (i) map-to-map, (ii) image-to-image and (iii) image-to-map. In this paper, we have chosen an implementation of each and performed experiments allowing the three approaches to be compared. The sequences used include both indoor and outdoor environments and single and multiple loop trajectories. (C) 2009 Elsevier B.V. All rights reserved.
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