ALCON blends an object-goal navigation planner with a loop-closing model, weighted by map uncertainty, and reports an SPL of 0.413 on a Habitat-Sim long-distance loop-closing test.
A sur vey on active simultaneous localization and mapping: State of the art and new frontiers
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ON as ALC: Active Loop Closing Object Goal Navigation
ALCON blends an object-goal navigation planner with a loop-closing model, weighted by map uncertainty, and reports an SPL of 0.413 on a Habitat-Sim long-distance loop-closing test.