LoopGNN uses graph attention over clusters of visually similar keyframes to improve loop closure precision and recall, outperforming pairwise baselines on off-road and campus datasets.
Hierarchical Open-V ocabulary 3D Scene Graphs for Language-Grounded Robot Navigation,
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Visual Loop Closure Detection Through Deep Graph Consensus
LoopGNN uses graph attention over clusters of visually similar keyframes to improve loop closure precision and recall, outperforming pairwise baselines on off-road and campus datasets.