Combining Odometry and Visual Loop-Closure Detection for Consistent Topo-Metrical Mapping

S. Bazeille; D. Filliat

RAIRO - Operations Research (2011)

  • 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 SLAM24 (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 44.4 (2011): 365-377. <http://eudml.org/doc/44698>.

@article{Bazeille2011,
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 SLAM24 (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},
keywords = {SLAM; monocular vision; odometry; mobile robot; topo-metrical map},
language = {eng},
month = {1},
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/44698},
volume = {44},
year = {2011},
}

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
DA - 2011/1//
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 SLAM24 (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/44698
ER -

References

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