Multi-Session Visual SLAM for Illumination Invariant Re-Localization in Indoor Environments. (arXiv:2103.03827v2 [cs.RO] UPDATED)

For robots navigating using only a camera, illumination changes in indoor
environments can cause re-localization failures during autonomous navigation.
In this paper, we present a multi-session visual SLAM approach to create a map
made of multiple variations of the same locations in different illumination
conditions. The multi-session map can then be used at any hour of the day for
improved re-localization capability. The approach presented is independent of
the visual features used, and this is demonstrated by comparing re-localization
performance …

arxiv localization slam visual slam