Title:
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Efficient vision-based loop closing techniques for delayed state robot mapping
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Author:
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Ila, Viorela Simona; Andrade-Cetto, Juan; Sanfeliu Cortés, Alberto
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Other authors:
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Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Institut de Robòtica i Informàtica Industrial; Universitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel.ligents |
Abstract:
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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 minimisation 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. |
Abstract:
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Peer Reviewed |
Subject(s):
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-Àrees temàtiques de la UPC::Enginyeria de la telecomunicació::Processament del senyal::Processament de la imatge i del senyal vídeo -Àrees temàtiques de la UPC::Informàtica::Robòtica -Computer vision -Robots -Robotics -Visió per ordinador -Robots -Robòtica -Classificació INSPEC::Pattern recognition::Computer vision -Classificació INSPEC::Automation::Robots |
Rights:
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Document type:
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Conference Object |
Published by:
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ESF-JSPS
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