A Loop Selection Front-end for Underwater Visual GraphSLAM

dc.contributor.author	Burguera, Antoni
dc.date.accessioned	2025-09-02T11:31:48Z
dc.date.available	2025-09-02T11:31:48Z
dc.date.issued	2025-09-02
dc.identifier.isbn	978-1-6654-6809-1	ca
dc.identifier.uri	http://hdl.handle.net/11201/171218
dc.description.abstract	[eng] This paper presents an algorithm to reject false loops ready to be used as a front-end for GraphSLAM. The proposal operates in two steps. The first one checks each loop independently to reduce the computational cost of the second one, which jointly checks the consistency of several loops. The experiments show the ability of this algorithm to detect wrong loops, favourably comparing to a previously existing approach in terms of final graph quality and time consumption.	ca
dc.format	application/pdf	en
dc.language.iso	eng	ca
dc.publisher	IEEE	en
dc.relation.ispartof	OCEANS 2022, Hampton Roads	en
dc.rights	all rights reserved
dc.subject	004 - Informàtica	ca
dc.subject	62 - Enginyeria. Tecnologia	ca
dc.subject.other	SLAM	ca
dc.subject.other	Loop selection	ca
dc.subject.other	Outlier detection	ca
dc.title	A Loop Selection Front-end for Underwater Visual GraphSLAM	ca
dc.type	Book chapter	ca
dc.type	info:eu-repo/semantics/bookpart
dc.type	info:eu-repo/semantics/conferenceObject
dc.type	conferenceObject
dc.rights.accessRights	info:eu-repo/semantics/openAccess
dc.identifier.doi	https://doi.org/10.1109/OCEANS47191.2022.9977188	ca