Robust outdoor trajectory mapping using CNN features and loop closure optimization

Robust outdoor trajectory mapping using CNN features and loop closure optimization

Autonomous navigation in cluttered outdoor environments remains a significant challenge for robotic systems due to dynamic obstacles, occlusions, and feature degradation. Traditional Simultaneous Localization and Mapping (SLAM) systems, reliant on low-level geometric features, often fail to accurate...

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Bibliographic Details
Main Authors: Kamran Kazi, Arbab Nighat Kalhoro, Farida Memon, Tarique Rafique Memon, Azam Rafique Memon
Format: Article
Language:English
Published: Mehran University of Engineering and Technology 2025-07-01
Series:Mehran University Research Journal of Engineering and Technology
Subjects:
visual slam
cnn-based feature extraction,
outdoor cluttered environments
trajectory optimization
odometry error
Online Access:https://murjet.muet.edu.pk/index.php/home/article/view/351
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