000144653 001__ 144653
000144653 005__ 20250831073331.0
000144653 0247_ $$2doi$$a10.1002/rob.22414
000144653 0248_ $$2sideral$$a139440
000144653 037__ $$aART-2025-139440
000144653 041__ $$aeng
000144653 100__ $$aSoncini, Nicolas
000144653 245__ $$aAddressing the challenges of loop detection in agricultural environments
000144653 260__ $$c2025
000144653 5060_ $$aAccess copy available to the general public$$fUnrestricted
000144653 5203_ $$aWhile visual Simultaneous Localization and Mapping 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 15 cm. We aim to characterize open fields as a novel environment for loop detection, understanding the limitations and problems that arise when dealing with them. Code is available at: https://github.com/CIFASIS/StereoLoopDetector
000144653 536__ $$9info:eu-repo/grantAgreement/ES/DGA/T45-23R$$9info:eu-repo/grantAgreement/ES/MICINN/PID2021-127685NB-I00$$9info:eu-repo/grantAgreement/EUR/MICINN/TED2021-131150B-I00
000144653 540__ $$9info:eu-repo/semantics/openAccess$$aby-nc-nd$$uhttp://creativecommons.org/licenses/by-nc-nd/3.0/es/
000144653 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/acceptedVersion
000144653 700__ $$0(orcid)0000-0003-1368-1151$$aCivera, Javier$$uUniversidad de Zaragoza
000144653 700__ $$aPire, Taihú
000144653 7102_ $$15007$$2520$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ingen.Sistemas y Automát.
000144653 773__ $$g42, 1 (2025), 346-355$$pJournal of Field Robotics$$tJournal of Field Robotics$$x1556-4959
000144653 8564_ $$s677247$$uhttps://zaguan.unizar.es/record/144653/files/texto_completo.pdf$$yPostprint$$zinfo:eu-repo/date/embargoEnd/2025-08-31
000144653 8564_ $$s1032619$$uhttps://zaguan.unizar.es/record/144653/files/texto_completo.jpg?subformat=icon$$xicon$$yPostprint$$zinfo:eu-repo/date/embargoEnd/2025-08-31
000144653 909CO $$ooai:zaguan.unizar.es:144653$$particulos$$pdriver
000144653 951__ $$a2024-12-20-13:37:43
000144653 980__ $$aARTICLE