Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Bi-directional Loop Closure for Visual SLAM   A key functional block of visual navigation system for intelligent autonomous
vehicles is Loop Closure detection and subsequent relocalisation.
State-of-the-Art methods still approach the problem as uni-directional along
the direction of the previous motion. As a result, most of the methods fail in
the absence of a significantly similar overlap of perspectives. In this study,
we propose an approach for bi-directional loop closure. This will, for the
first time, provide us with the capability to relocalize to a location even
when traveling in the opposite direction, thus significantly reducing long-term
odometry drift in the absence of a direct loop. We present a technique to
select training data from large datasets in order to make them usable for the
bi-directional problem. The data is used to train and validate two different
CNN architectures for loop closure detection and subsequent regression of 6-DOF
camera pose between the views in an end-to-end manner. The outcome packs a
considerable impact and aids significantly to real-world scenarios that do not
offer direct loop closure opportunities. We provide a rigorous empirical
comparison against other established approaches and evaluate our method on both
outdoor and indoor data from the FinnForest dataset and PennCOSYVIO dataset.

13
The categories of this paper are: quant-ph
20
The categories of this paper are: acc-phys
22
The categories of this paper are: chao-dyn
23
The categories of this paper are: solv-int
3
The categories of this paper are: physics
8
The categories of this paper are: hep-ex
4
The categories of this paper are: cond-mat
2
The categories of this paper are: math
12
The categories of this paper are: nucl-th
34
The categories of this paper are: chem-ph
21
The categories of this paper are: adap-org
29
The categories of this paper are: funct-an
5
The categories of this paper are: gr-qc
9
The categories of this paper are: nlin
35
The categories of this paper are: mtrl-th
26
The categories of this paper are: bayes-an