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

S. BazeilleD. Filliat — 2010

RAIRO - Operations Research - Recherche Opérationnelle

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, 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...

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

S. BazeilleD. Filliat — 2011

RAIRO - Operations Research

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, (2008) 1027–1037], which is able to detect when the robot has returned back to a previously visited place. An efficient optimization algorithm is...

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