Learning whole-image descriptors for real-time loop detection and kidnap recovery under large viewpoint difference

Kuse, M; Shen, SJ

Kuse, M (corresponding author), Hong Kong Univ Sci & Technol, Robot Inst, Kowloon, Clear Water Bay Rd, Hong Kong, Peoples R China.

ROBOTICS AND AUTONOMOUS SYSTEMS, 2021; 143 ():

Abstract

We present a real-time stereo visual-inertial-SLAM system which is able to recover from complicated kidnap scenarios and failures online in realtime. ......

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