Geodesic
Combining odometry and visual loop-closure detection for consistent topo-metrical mapping
RAIRO - Operations Research - Recherche Opérationnelle, Tome 44 (2010) no. 4, pp. 365-377

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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, IEEE Transactions On Robotics, Special Issue on Visual SLAM 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 odometry information and to generate a consistent topo-metrical map much more usable for global localization and path planning. The resulting algorithm which only requires a monocular camera and robot odometry data, is real-time, incremental (i.e. it does not require any a priori information on the environment), and can be easily embedded on medium platforms.

DOI : 10.1051/ro/2010021
Classification : 68T40, 93C85
Keywords: SLAM, monocular vision, odometry, mobile robot, topo-metrical map 
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     author = {Bazeille, S. and Filliat, D.},
     title = {Combining odometry and visual loop-closure detection for consistent topo-metrical mapping},
     journal = {RAIRO - Operations Research - Recherche Op\'erationnelle},
     pages = {365--377},
     publisher = {EDP-Sciences},
     volume = {44},
     number = {4},
     year = {2010},
     doi = {10.1051/ro/2010021},
     language = {en},
     url = {http://geodesic.mathdoc.fr/articles/10.1051/ro/2010021/}
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Bazeille, S.; Filliat, D. Combining odometry and visual loop-closure detection for consistent topo-metrical mapping. RAIRO - Operations Research - Recherche Opérationnelle, Tome 44 (2010) no. 4, pp. 365-377. doi: 10.1051/ro/2010021

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