An Improved RANSAC in Simultaneous Localization and Mapping

Abstract
Simultaneous Localization and Mapping (SLAM) has been playing a more and more important role in intelligent driving and robotics. In order to reduce the error caused by missing frames and improve the accuracy of loop-closure detection, an improved random sample consensus (RANSAC) method (named LO*-RANSAC) is proposed. Firstly, inliers produced from conventional RANSAC are filtered iteratively to further narrow down the selection of qualified...
Paper Details
Title
An Improved RANSAC in Simultaneous Localization and Mapping
Published Date
May 26, 2021
Pages
896 - 905
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