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Title:
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SP-LOOP: A LOOP CLOSURE DETECTION METHOD FOR RGB-D SLAM USING SEMANTIC AND POSITION INFORMATION |
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Author(s):
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Xueshi Li, Fei Qiao, Qi Wei, Yi Yang, Xinjun Liu and Huazhong Yang |
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ISBN:
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978-989-8533-79-1 |
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Editors:
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Katherine Blashki and Yingcai Xiao |
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Year:
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2018 |
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Edition:
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Single |
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Keywords:
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SLAM, Loop Closure Detection, Semantic Segmentation, RGB-D |
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Type:
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Short Paper |
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First Page:
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373 |
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Last Page:
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376 |
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Language:
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English |
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Cover:
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Full Contents:
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click to dowload 
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Paper Abstract:
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Loop closure detection is an important part in a simultaneous localization and mapping (SLAM) system. This paper presents a loop closure detection method for semantic RGB-D SLAM, which makes use of both semantic and position information. Compared with widely used feature-based loop closure detection method, proposed method increases the recall rate of loop closing by 20.3% in texture-less environment. |
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