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SemanticTopoLoop: Semantic Loop Closure With 3D Topological Graph Based on Quadric-Level Object Map
Loop closure, as one of the crucial components in SLAM, plays an essential role in correcting the accumulated errors.
Accurate and Robust Object-oriented SLAM with 3D Quadric Landmark Construction in Outdoor Environment
To solve this problem, we propose a quadric initialization method based on the decoupling of the quadric parameters method, which improves the robustness to observation noise.
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