Vision-based loop closing for delayed state robot mapping

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hdl:2117/191339
Document typeConference report
Defense date2007
Rights accessOpen Access
ProjectANALISIS Y PLANIFICACION DEL MOVIMIENTO EN SISTEMAS ROBOTIZADOS COMPLEJOS (MEC-DPI2007-60858)
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.
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© 2007 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
CitationIlla, V. [et al.]. Vision-based loop closing for delayed state robot mapping. A: IEEE/RSJ International Conference on Intelligent Robots and Systems. "Proceedings of 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems". 2007, p. 3892-3897.
Publisher versionhttps://ieeexplore.ieee.org/document/4399221
Collections
- IRI - Institut de Robòtica i Informàtica Industrial, CSIC-UPC - Ponències/Comunicacions de congressos [463]
- Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial - Ponències/Comunicacions de congressos [1.387]
- VIS - Visió Artificial i Sistemes Intel·ligents - Ponències/Comunicacions de congressos [281]
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