Title:	SP-LOOP: A LOOP CLOSURE DETECTION METHOD FOR RGB-D SLAM USING SEMANTIC AND POSITION INFORMATION
Author(s):	Xueshi Li, Fei Qiao, Qi Wei, Yi Yang, Xinjun Liu and Huazhong Yang
ISBN:	978-989-8533-79-1
Editors:	Katherine Blashki and Yingcai Xiao
Year:	2018
Edition:	Single
Keywords:	SLAM, Loop Closure Detection, Semantic Segmentation, RGB-D
Type:	Short Paper
First Page:	373
Last Page:	376
Language:	English
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Paper Abstract:	Loop closure detection is an important part in a simultaneous localization and mapping (SLAM) system. This paper presents a loop closure detection method for semantic RGB-D SLAM, which makes use of both semantic and position information. Compared with widely used feature-based loop closure detection method, proposed method increases the recall rate of loop closing by 20.3% in texture-less environment.
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