{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/addressing-the-challenges-of-loop-detection","title":"Addressing the challenges of loop detection in agricultural environments","arxiv_id":"2408.15761","date":"2024-08-28","proceeding":null,"authors":["Nicolás Soncini","Javier Civera","Taihú Pire"],"abstract":"While visual SLAM systems are well studied and achieve impressive results in indoor and urban settings, natural, outdoor and open-field environments are much less explored and still present relevant research challenges. Visual navigation and local mapping have shown a relatively good performance in open-field environments. However, globally consistent mapping and long-term localization still depend on the robustness of loop detection and closure, for which the literature is scarce. In this work we propose a novel method to pave the way towards robust loop detection in open fields, particularly in agricultural settings, based on local feature search and stereo geometric refinement, with a final stage of relative pose estimation. Our method consistently achieves good loop detections, with a median error of 15cm. We aim to characterize open fields as a novel environment for loop detection, understanding the limitations and problems that arise when dealing with them.","url_abs":"https://arxiv.org/abs/2408.15761v2","url_pdf":"https://arxiv.org/pdf/2408.15761v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"addressing-the-challenges-of-loop-detection","repo_url":"https://github.com/CIFASIS/StereoLoopDetector","is_official":1,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":null}],"tasks":[{"task_slug":"pose-estimation","task_name":"Pose Estimation"},{"task_slug":"visual-navigation","task_name":"Visual Navigation"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":null,"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}