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|Title:||An image-to-map loop closing method for monocular SLAM|
|Citation:||IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008, (IROS 2008) / pp.2053-2059|
|Conference Name:||IEEE/RSJ International Conference on Intelligent Robots and Systems (2008 : Nice, France)|
|Brian Williams, Mark Cummins, José Neira, Paul Newman, Ian Reid, and Juan Tardós|
|Abstract:||In this paper we present a loop closure method for a handheld single-camera SLAM system based on our previous work on relocalization. By finding correspondences between the current image and the map, our system is able to reliably detect loop closures. We compare our algorithm to existing techniques for loop closure in single-camera SLAM based on both image-to-image and map-to-map correspondences and discuss both the reliability and suitability of each algorithm in the context of monocular SLAM.|
|Appears in Collections:||Computer Science publications|
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