Using a Two-Stage Method to Reject False Loop Closures and Improve the Accuracy of Collaborative SLAM Systems

Loop-closure detection is an essential means to reduce accumulated errors of simultaneous localization and mapping (SLAM) systems. However, even false positive loop closures could seriously interfere and even corrupt the back-end optimization process. For a collaborative SLAM system that generally u...

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Autores principales: Xiaoguo Zhang, Zihan Zhang, Qing Wang, Yuan Yang
Formato: article
Lenguaje:EN
Publicado: MDPI AG 2021
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Acceso en línea:https://doaj.org/article/9cbfe8c88b314369bf7a29622fbf7fad
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