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Since a RGB-D sensor provides rich information about the scene, various object recognition schemes and low-level image descriptors can be used to improve the SLAM performance. However, a cleaning robot, which is usually flat and thus the camera is close to the floor, usually only has a partial view of the objects in front of the camera; therefore, conventional object recognition schemes based on the...
Place recognition is widely used in the loop closure detection in SLAM. The current approach to place recognition is based on RGB images, but there are relatively few place recognition studies using a point cloud. This study presents the place recognition method based on the surface graph. The proposed method clusters the surfaces in the point cloud and recognizes a place through a surface descriptor...
Depth sensors have been increasingly used for object recognition in recent years. However, it is very challenging for simultaneous localization and mapping (SLAM) to make use of the forward scenes from a depth sensor. To this end, we introduce the object recognition framework for SLAM in indoor environments based on the extraction of an object-level descriptor. The proposed object-level descriptor...
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