12 papers · ranked by Valyu relevance
Kaiwei Tang, Qing Wang, Chao Yan, Yang Sun + 4 more
Loop closure detection is essential for improving the long-term consistency and robustness of simultaneous localization and mapping (SLAM) systems. Existing LiDAR-based loop closure approaches often rely on limited or partial geometric features, restricting their performance in complex environments. To address these…
Michiel Vlaminck, Hiep Luong, Wilfried Philips
In this paper, we present a complete loop detection and correction system developed for data originating from lidar scanners. Regarding detection, we propose a combination of a global point cloud matcher with a novel registration algorithm to determine loop candidates in a highly effective way. The registration method…
Saba Arshad, Gon-Woo Kim, Oscar Reinoso Garcia
Loop closure detection is of vital importance in the process of simultaneous localization and mapping (SLAM), as it helps to reduce the cumulative error of the robot’s estimated pose and generate a consistent global map. Many variations of this problem have been considered in the past and the existing methods differ in…
Fangdi Jiang, Wanqiu Wang, Hongru You, Shuhang Jiang + 5 more
'Jonghyuk Kim' 'Shifeng Wang' 'Thierry Badard' 'Stephane Guinard'] Loop-closure detection plays a pivotal role in simultaneous localization and mapping (SLAM). It serves to minimize cumulative errors and ensure the overall consistency of the generated map. This paper introduces a multi-sensor fusion-based loop-closure…
Václav Brázda, Jan Havlík, Jan Kolomazník, Oldřich Trenz + 2 more
'Jiří Šťastný' 'Daniela Montesarchio'] R-loops are common non-B nucleic acid structures formed by a three-stranded nucleic acid composed of an RNA-DNA hybrid and a displaced single-stranded DNA (ssDNA) loop. Because the aberrant R-loop formation leads to increased mutagenesis, hyper-recombination, rearrangements, and…
Shibin Song, Fengjie Yu, Xiaojie Jiang, Jie Zhu + 2 more
'Xiao Fang'] Loop closure detection is an important module for simultaneous localization and mapping (SLAM). Correct detection of loops can reduce the cumulative drift in positioning. Because traditional detection methods rely on handicraft features, false positive detections can occur when the environment changes…
Qin Ye, Pengcheng Shi, Kunyuan Xu, Popo Gui + 1 more
Reducing the cumulative error is a crucial task in simultaneous localization and mapping (SLAM). Usually, Loop Closure Detection (LCD) is exploited to accomplish this work for SLAM and robot navigation. With a fast and accurate loop detection, it can significantly improve global localization stability and reduce…
Yizhe Huang, Bin Huang, Zhifu Zhang, Yuanyuan Shi + 4 more
'Jinfeng Sun' 'Anastasios Doulamis' 'Andrey V. Savkin'] Variations with respect to perspective, lighting, weather, and interference from dynamic objects may all have an impact on the accuracy of the entire system during autonomous positioning and during the navigation of mobile visual simultaneous localization and…
Quande Yuan, Zhenming Zhang, Yuzhen Pi, Lei Kou + 4 more
'Min Xia' 'Teng Li' 'Clarence de Silva'] As visual simultaneous localization and mapping (vSLAM) is easy disturbed by the changes of camera viewpoint and scene appearance when building a globally consistent map, the robustness and real-time performance of key frame image selections cannot meet the requirements. To…
Wan Xu, Yanliang Chen, Shijie Liu, Ao Nie + 2 more
'Jacky C.K. Chow'] To address the challenges in multi-robot collaborative SLAM, including excessive redundant computations and low processing efficiency in candidate loop closure selection during front-end loop detection, as well as high computational complexity and long iteration times due to global pose optimization…
Yongkai Liu, Chaijie Duan, Jerome Liang, Jing Hu + 2 more
'Mingyue Luo'] Purpose The human colon has complex geometric structures because of its haustral folds, which are thin flat protrusions on the colon wall. The haustral loop is the curve (approximately triangular in shape) that encircles the highly convex region of the haustral fold, and is regarded as the natural…
Qi Wang, Weinan Xie, Boqi Xi, Hanshi Li + 3 more
'Piero Malcovati'] The vector control method is applied to a whole angle hemispherical resonator gyroscope (HRG). The detection and control of the resonator vibration state are implemented using orthogonal X/Y channels. However, the performance of the HRG is limited by the asymmetry in the gain and phase delay of X/Y…