Loop Closure Detection Based on Differentiable Manifold

Figure 1

(a) Schematic diagram of loop closure detection based on differentiable manifold. The arrow indicates the direction of the robot. The blue trajectory represents the robot motion trajectory calculated only by the image matching algorithm, while the red trajectory represents the robot motion trajectory in the real scene, and the black box marks the trajectory smoothness problem proposed in this paper. (b) Black nodes represent keyframe pose nodes, C₀ property means only connection, and C₁ property means continuous and smooth.

(a)

(b)