Loop Closing Detection in RGB-D SLAM Combining Appearance and Geometric Constraints

A kind of multi feature points matching algorithm fusing local geometric constraints is proposed for the purpose of quickly loop closing detection in RGB-D Simultaneous Localization and Mapping (SLAM). The visual feature is encoded with BRAND (binary robust appearance and normals descriptor), which...

Descripción completa

Detalles Bibliográficos
Autores principales: Zhang, Heng, Liu, Yanli, Tan, Jindong
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2015
Materias:
Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4507625/
https://www.ncbi.nlm.nih.gov/pubmed/26102492
http://dx.doi.org/10.3390/s150614639

Internet

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4507625/
https://www.ncbi.nlm.nih.gov/pubmed/26102492
http://dx.doi.org/10.3390/s150614639

Ejemplares similares