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

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...

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Bibliographic Details
Main Authors: Heng Zhang, Yanli Liu, Jindong Tan
Format: Article
Language:English
Published: MDPI AG 2015-06-01
Series:Sensors
Subjects:
SLAM
binary descriptor
geometric constraints
hierarchical clustering
Online Access:http://www.mdpi.com/1424-8220/15/6/14639

Internet

http://www.mdpi.com/1424-8220/15/6/14639

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