Publication
Vision-based loop closing for delayed state robot mapping
Conference Article
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Edition
2007
Pages
3892-3897
Doc link
http://dx.doi.org/10.1109/IROS.2007.4399221
File
Authors
Projects associated
Abstract
This paper shows results on outdoor vision-based loop closing for Simultaneous Localization and Mapping. Our experiments show that for loops of over 50m, the pose estimates maintained with a Delayed-State Extended Information Filter are consistent enough to guarantee assertion of vision-based pose constraints for loop closure, provided no necessary information links are added to the estimator. The technique computes relative pose constraints via a robust least squares minimization of 3D point correspondences, which are in turn obtained from the matching of SIFT features over candidate image pairs. We propose a loop closure test that checks both for closeness of means and for highly informative updates at the same time.
Categories
computer vision, robots.
Scientific reference
V. Ila, J. Andrade-Cetto, R. Valencia and A. Sanfeliu. Vision-based loop closing for delayed state robot mapping, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007, San Diego, CA, USA, pp. 3892-3897, IEEE.
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