... to inaccurate loop closure detection and significant trajectory errors, thereby affecting mapping performance. The aim of this research is to develop a robust loop closure detection framework to enhance the overall accuracy of SLAM . Design/methodology/approach The algorithm uses a visual Bag-of-Words...

.... Design/methodology/approach This paper proposes a method that combines adaptive feature extraction and loop closure detection algorithms to address this challenge. In the SLAM system, the ground point cloud and non-ground point cloud are separated to reduce the impact of noise. And based...