Loop closure detection is important for simultaneous localization and mapping (SLAM), which associates current observations with historical keyframes, achieving drift correction and global relocalization. However, a falsely detected loop can be fatal, and this is especially difficult in repetitive environments where appearance-based features fail due to the high similarity. Therefore, verifying a loop closure is a critical step to avoid false-positive detections. Existing works in loop closure verification predominantly focus on learning invariant appearance features, neglecting the prior knowledge of the robot’s spatial-temporal motion cue, i.e., trajectory. In this article, we propose ROVER, a loop closure verification method that leverages the historical trajectory as a prior constraint to reject false loops in challenging repetitive environments. For each loop candidate, it is first used to estimate the robot trajectory with pose-graph optimization. This trajectory is then submitted to a scoring scheme that assesses its compliance with the trajectory without the loop, which we refer to as the trajectory prior constraint (TPC), to determine if the loop candidate should be accepted. Benchmark comparisons and real-world experiments demonstrate the effectiveness of the proposed method. Furthermore, we integrate ROVER into state-of-the-art SLAM systems to verify its robustness and efficiency.

BACKGROUND: Cancers are spatially heterogenous, thus their clonal evolution, especially following anti-cancer treatments, depends on where the mutated cells are located within the tumor tissue. For example, cells exposed to different concentrations of drugs, such as cells located near the vessels in contrast to those residing far from the vasculature, can undergo a different evolutionary path. However, classical representations of cell lineage trees do not account for this spatial component of emerging cancer clones. Here, we propose routines to trace spatial and temporal clonal evolution in computer simulations of the tumor evolution models. RESULTS: The LinG3D (Lineage Graphs in 3D) is an open-source collection of routines (in MATLAB, Python, and R) that enables spatio-temporal visualization of clonal evolution in a two-dimensional tumor slice from computer simulations of the tumor evolution models. These routines draw traces of tumor clones in both time and space, and may include a projection of a selected microenvironmental factor, such as the drug or oxygen distribution within the tumor, if such a microenvironmental factor is used in the tumor evolution model. The utility of LinG3D has been demonstrated through examples of simulated tumors with different number of clones and, additionally, in experimental colony growth assay. CONCLUSIONS: This routine package extends the classical lineage trees, that show cellular clone relationships in time, by adding the space component to show the locations of cellular clones within the 2D tumor tissue patch from computer simulations of tumor evolution models.