Loop Closure Detection Based on Differentiable Manifold

Figure 7

A partial experimental comparison diagram of the robot motion trajectory after using the obtained motion trajectory equation and the real trajectory. Among them, the red curve represents the true trajectory value of the robot, the blue curve represents the trajectory value of the robot obtained by the method in this paper, and the green curve represents the trajectory value of the robot in the ORB_SLAM2 method. (a) N1 = 3. (b) N2 = 3. (c) N3 = 4. (d) N4 = 4. (e) N5 = 5. (f) N6 = 5.

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