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: Zhang, Heng, Liu, Yanli, Tan, Jindong
Format: Online
Language:English
Published: MDPI 2015
Online Access:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4507625/