Combining odometry and visual loop-closure detection for consistent topo-metrical mapping

S. Bazeille; D. Filliat

RAIRO - Operations Research - Recherche Opérationnelle (2010)

  • Volume: 44, Issue: 4, page 365-377
  • ISSN: 0399-0559

Abstract

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We address the problem of simultaneous localization and mapping (SLAM) by combining visual loop-closure detection with metrical information given by a robot odometry. The proposed algorithm extends a purely appearance-based loop-closure detection method based on bags of visual words [A. Angeli, D. Filliat, S. Doncieux and J.-A. Meyer, IEEE Transactions On Robotics, Special Issue on Visual SLAM 24 (2008) 1027–1037], which is able to detect when the robot has returned back to a previously visited place. An efficient optimization algorithm is used to integrate odometry information and to generate a consistent topo-metrical map much more usable for global localization and path planning. The resulting algorithm which only requires a monocular camera and robot odometry data, is real-time, incremental (i.e. it does not require any a priori information on the environment), and can be easily embedded on medium platforms.

How to cite

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Bazeille, S., and Filliat, D.. "Combining odometry and visual loop-closure detection for consistent topo-metrical mapping." RAIRO - Operations Research - Recherche Opérationnelle 44.4 (2010): 365-377. <http://eudml.org/doc/245042>.

@article{Bazeille2010,
abstract = {We address the problem of simultaneous localization and mapping (SLAM) by combining visual loop-closure detection with metrical information given by a robot odometry. The proposed algorithm extends a purely appearance-based loop-closure detection method based on bags of visual words [A. Angeli, D. Filliat, S. Doncieux and J.-A. Meyer, IEEE Transactions On Robotics, Special Issue on Visual SLAM 24 (2008) 1027–1037], which is able to detect when the robot has returned back to a previously visited place. An efficient optimization algorithm is used to integrate odometry information and to generate a consistent topo-metrical map much more usable for global localization and path planning. The resulting algorithm which only requires a monocular camera and robot odometry data, is real-time, incremental (i.e. it does not require any a priori information on the environment), and can be easily embedded on medium platforms.},
author = {Bazeille, S., Filliat, D.},
journal = {RAIRO - Operations Research - Recherche Opérationnelle},
keywords = {SLAM; monocular vision; odometry; mobile robot; topo-metrical map},
language = {eng},
number = {4},
pages = {365-377},
publisher = {EDP-Sciences},
title = {Combining odometry and visual loop-closure detection for consistent topo-metrical mapping},
url = {http://eudml.org/doc/245042},
volume = {44},
year = {2010},
}

TY - JOUR
AU - Bazeille, S.
AU - Filliat, D.
TI - Combining odometry and visual loop-closure detection for consistent topo-metrical mapping
JO - RAIRO - Operations Research - Recherche Opérationnelle
PY - 2010
PB - EDP-Sciences
VL - 44
IS - 4
SP - 365
EP - 377
AB - We address the problem of simultaneous localization and mapping (SLAM) by combining visual loop-closure detection with metrical information given by a robot odometry. The proposed algorithm extends a purely appearance-based loop-closure detection method based on bags of visual words [A. Angeli, D. Filliat, S. Doncieux and J.-A. Meyer, IEEE Transactions On Robotics, Special Issue on Visual SLAM 24 (2008) 1027–1037], which is able to detect when the robot has returned back to a previously visited place. An efficient optimization algorithm is used to integrate odometry information and to generate a consistent topo-metrical map much more usable for global localization and path planning. The resulting algorithm which only requires a monocular camera and robot odometry data, is real-time, incremental (i.e. it does not require any a priori information on the environment), and can be easily embedded on medium platforms.
LA - eng
KW - SLAM; monocular vision; odometry; mobile robot; topo-metrical map
UR - http://eudml.org/doc/245042
ER -

References

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