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rpng / calc

Convolutional Autoencoder for Loop Closure
BSD 3-Clause "New" or "Revised" License
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deep model in SLAM #10

Closed zqnnn closed 5 years ago

zqnnn commented 5 years ago

Hey, are you try to use calc model to detect loops in SLAM system? How can we combine the deep model and whole slam system?

nmerrill67 commented 5 years ago

Yes. You can get an idea of how to integrate CALC into a SLAM system from the online demo, where ground truth replaces the trajectory estimation. CALC essentially gives you what DBoW2 gives you (in terms of implementation). You can perform k-nearest neighbor searches for key frames, and find loop closure candidates using some thresholding of the similarity scores.

goldbattle commented 5 years ago

Here is a youtube video showing what Nate is referencing: https://www.youtube.com/watch?v=Bmg03-QtynY