paper

Memory Management for Real-Time Appearance-Based Loop Closure Detection

arXiv:2407.15890 · doi:10.1109/IROS.2011.6094602

Abstract

Loop closure detection is the process involved when trying to find a match between the current and a previously visited locations in SLAM. Over time, the amount of time required to process new observations increases with the size of the internal map, which may influence real-time processing. In this paper, we present a novel real-time loop closure detection approach for large-scale and long-term SLAM. Our approach is based on a memory management method that keeps computation time for each new observation under a fixed limit. Results demonstrate the approach's adaptability and scalability using four standard data sets.

6 pages, 3 figures. arXiv admin note: substantial text overlap with arXiv:2407.15304

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