Loop closure detection systems for monocular SLAM come in three broad categories: (i) map-to-map, (ii) image-to-image and (iii) image-to-map. In this paper, we have chosen an implementation of each and performed experiments allowing the three approaches to be compared. The sequences used include both indoor and outdoor environments and single and multiple loop trajectories.
Loop closures in SLAM are detected using three major approaches REF : map-to-map, image-to-image and image-to-map.
A comparison of loop closing techniques in monocular SLAM
ROBOTICS AND AUTONOMOUS SYSTEMS
Computer Science