Loop Closure Detection Based on Differentiable Manifold

<div>Schematic diagram of robot trajectory. The solid line represents the real motion trajectory of the robot, and the dotted line represents the motion trajectory of the robot calculated only by the image matching algorithm, while the arrow represents the motion direction of the robot. The Frenet framework is composed of {<i>T</i>, (<i>N</i>) <i>B</i>}, where <i>T</i>, <i>N</i>, and <i>B</i> represent tangent vector, the main normal vector, and the binormal vector, respectively.</div>

Mobile Information Systems

fig2

Figure 2

Figure 2: Loop Closure Detection Based on Differentiable Manifold 