We present an image-based Simultaneous Localization and Mapping (SLAM) framework with online, appearanceonly loop closing. We adopt a layered approach with metric maps over small ...
— Scan-matching based on data from a laser scanner is frequently used for mapping and localization. This paper presents an scan-matching approach based instead on visual informat...
Federico Bertolli, Patric Jensfelt, Henrik I. Chri...