Abstract The recognition of previously visited places, known as Loop Closure Detection (LCD), composes one of the problems widely studied in robotics: simultaneous localization and mapping (SLAM). In this paper we propose a three level hierarchy based LCD method. In our serialized approach, in the First Level, a sequence of the most recently visited places is used as query to search for candidate sequences in our topological map composed by previously visited places. After that, at the Second Level, the method selects the most similar sequence to the query among all candidate sequences which is temporally consistent with the previous LCD method response. Then, at the Third Level, we match the image sequences belonging to the query sequence to the candidate sequence selected in the Second Level. The method is evaluated in different and challenging public datasets, and presents expressive results that overcome the LCD state-of-the-art methods.

中文翻译：

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基于三级序列的循环闭合检测

摘要 先前访问过的地方的识别，称为回路闭合检测（LCD），构成了机器人学中广泛研究的问题之一：同步定位和映射（SLAM）。在本文中，我们提出了一种基于三级层次结构的 LCD 方法。在我们的序列化方法中，在第一级，最近访问过的地方的序列被用作查询，以在我们的拓扑图中搜索由以前访问过的地方组成的候选序列。之后，在第二级，该方法在所有候选序列中选择与查询最相似的序列，该序列在时间上与之前的 LCD 方法响应一致。然后，在第三层，我们将属于查询序列的图像序列与第二层中选择的候选序列进行匹配。