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dc.contributor.authorIlla, Viorela Simona
dc.contributor.authorAndrade-Cetto, Juan
dc.contributor.authorValencia Carreño, Rafael
dc.contributor.authorSanfeliu Cortés, Alberto
dc.contributor.otherInstitut de Robòtica i Informàtica Industrial
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.identifier.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.
dc.description© 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.
dc.description.abstractThis 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.
dc.format.extent6 p.
dc.rightsAttribution-NonCommercial-NoDerivs 3.0 Spain
dc.subjectÀrees temàtiques de la UPC::Informàtica::Automàtica i control
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.otherComputer vision
dc.titleVision-based loop closing for delayed state robot mapping
dc.typeConference report
dc.contributor.groupUniversitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel·ligents
dc.description.peerreviewedPeer Reviewed
dc.subject.inspecClassificació INSPEC::Pattern recognition::Computer vision
dc.rights.accessOpen Access
dc.description.versionPostprint (author's final draft)
local.citation.authorIlla, V.; Andrade-Cetto, J.; Valencia, R.; Sanfeliu, A.
local.citation.contributorIEEE/RSJ International Conference on Intelligent Robots and Systems
local.citation.publicationNameProceedings of 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

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