Fast and Incremental Loop Closure Detection with Deep Features and Proximity Graphs. (arXiv:2010.11703v2 [cs.CV] UPDATED)

In recent years, the robotics community has extensively examined methods
concerning the place recognition task within the scope of simultaneous
localization and mapping applications.This article proposes an appearance-based
loop closure detection pipeline named ``FILD++" (Fast and Incremental Loop
closure Detection).First, the system is fed by consecutive images and, via
passing them twice through a single convolutional neural network, global and
local deep features are extracted.Subsequently, a hierarchical navigable
small-world graph incrementally constructs a visual database representing the
robot's traversed path …

arxiv cv detection graphs incremental