Place Recognition Using Line-Junction-Lines in Urban Environments

• Published in: IEEE ... International Conference on Cybernetics and Intelligent Systems (Print) pp. 530 - 535
• Main Authors: Tang, Xiaoyu, Fu, Wenhao, Jiang, Muyun, Peng, Guohao, Wu, Zhenyu, Yue, Yufeng, Wang, Danwei
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.11.2019
• Subjects: Cameras; Feature extraction; Image segmentation; Robustness; Simultaneous localization and mapping; Visualization

Place recognition plays a vital role in eliminating accumulated drift from visual odometry in SLAM system. Bag- of-Words (BoW) -based approach is the most popular solution due to its efficiency and robustness. We propose to use Line- Junction-Line (LJL) to build a BoW for place recognition in urban...