Loop Closure Detection Based on Differentiable Manifold

Figure 8

The global comparison of the robot motion trajectory and the real trajectory in the xoy plane after using the obtained motion trajectory equation. The figure on the right shows the global comparison of the robot’s motion trajectory and the real trajectory in the xyz plane after using the obtained motion trajectory equation. 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) M1 = 6. (c) N2 = 4. (d) M2 = 7. (e) N3 = 5. (f) M3 = 8.

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