Memory Management for Real-Time Appearance-Based Loop Closure Detection
This addresses real-time processing challenges in large-scale and long-term SLAM for robotics and autonomous systems, but it is incremental as it builds on existing appearance-based methods.
They tackled the problem of increasing computation time in loop closure detection for SLAM by introducing a memory management method that keeps processing time per new observation under a fixed limit, demonstrating adaptability and scalability on four standard datasets.
Loop closure detection is the process involved when trying to find a match between the current and a previously visited locations in SLAM. Over time, the amount of time required to process new observations increases with the size of the internal map, which may influence real-time processing. In this paper, we present a novel real-time loop closure detection approach for large-scale and long-term SLAM. Our approach is based on a memory management method that keeps computation time for each new observation under a fixed limit. Results demonstrate the approach's adaptability and scalability using four standard data sets.