相关论文: Proving the existence of loops in robot trajectori…

Loops are pervasive in robotics problems, appearing in mapping and localization, where one is interested in finding loop closure constraints to better approximate robot poses or other estimated quantities, as well as planning and…

Loop closure detection is important for simultaneous localization and mapping (SLAM), which associates current observations with historical keyframes, achieving drift correction and global relocalization. However, a falsely detected loop…

Enabling fully autonomous robots capable of navigating and exploring large-scale, unknown and complex environments has been at the core of robotics research for several decades. A key requirement in autonomous exploration is building…

Where am I? This is one of the most critical questions that any intelligent system should answer to decide whether it navigates to a previously visited area. This problem has long been acknowledged for its challenging nature in simultaneous…

Loop closure detection, the task of identifying locations revisited by a robot in a sequence of odometry and perceptual observations, is typically formulated as a combination of two subtasks: (1) bag-of-words image retrieval and (2)…

Inter-robot loop closure detection, e.g., for collaborative simultaneous localization and mapping (CSLAM), is a fundamental capability for many multirobot applications in GPS-denied regimes. In real-world scenarios, this is a…

In this paper we present a novel framework for unsupervised topological clustering resulting in improved loop. In this paper we present a novel framework for unsupervised topological clustering resulting in improved loop detection and…

Robust SLAM in large-scale environments requires fault resilience and awareness at multiple stages, from sensing and odometry estimation to loop closure. In this work, we present TBV (Trust But Verify) Radar SLAM, a method for radar SLAM…

Simultaneous Localization and Mapping (SLAM) allows mobile robots to navigate without external positioning systems or pre-existing maps. Radar is emerging as a valuable sensing tool, especially in vision-obstructed environments, as it is…

Multi-robot SLAM systems in GPS-denied environments require loop closures to maintain a drift-free centralized map. With an increasing number of robots and size of the environment, checking and computing the transformation for all the loop…

Loop closure detection, which is the task of identifying locations revisited by a robot in a sequence of odometry and perceptual observations, is typically formulated as a visual place recognition (VPR) task. However, even state-of-the-art…

Consistent maps are key for most autonomous mobile robots, and they often use SLAM approaches to build such maps. Loop closures via place recognition help to maintain accurate pose estimates by mitigating global drift, and are thus key for…

This paper presents resource-aware algorithms for distributed inter-robot loop closure detection for applications such as collaborative simultaneous localization and mapping (CSLAM) and distributed image retrieval. In real-world scenarios,…

This paper considers the collaborative graph exploration problem in GPS-denied environments, where a group of robots are required to cover a graph environment while maintaining reliable pose estimations in collaborative simultaneous…

Vision-based simultaneous localization and mapping (vSLAM) is a well-established problem in mobile robotics and monocular vSLAM is one of the most challenging variations of that problem nowadays. In this work we study one of the core…

Simultaneous localization and mapping (SLAM) algorithms are essential for the autonomous navigation of mobile robots. With the increasing demand for autonomous systems, it is crucial to evaluate and compare the performance of these…

For large-scale and long-term simultaneous localization and mapping (SLAM), a robot has to deal with unknown initial positioning caused by either the kidnapped robot problem or multi-session mapping. This paper addresses these problems by…

Visual-inertial SLAM is essential for robot navigation in GPS-denied environments, e.g. indoor, underground. Conventionally, the performance of visual-inertial SLAM is evaluated with open-loop analysis, with a focus on the drift level of…

This paper introduces a novel and distributed method for detecting inter-map loop closure outliers in simultaneous localization and mapping (SLAM). The proposed algorithm does not rely on a good initialization and can handle more than two…

Planning safe motions for legged robots requires sophisticated safety verification tools. However, designing such tools for such complex systems is challenging due to the nonlinear and high-dimensional nature of these systems' dynamics. In…