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.
Keywords: SLAM, monocular vision, odometry, mobile robot, topo-metrical map
@article{RO_2010__44_4_365_0,
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},
year = {2010},
publisher = {EDP-Sciences},
volume = {44},
number = {4},
doi = {10.1051/ro/2010021},
language = {en},
url = {http://geodesic.mathdoc.fr/articles/10.1051/ro/2010021/}
}
TY - JOUR AU - Bazeille, S. AU - Filliat, D. TI - Combining odometry and visual loop-closure detection for consistent topo-metrical mapping JO - RAIRO - Operations Research - Recherche Opérationnelle PY - 2010 SP - 365 EP - 377 VL - 44 IS - 4 PB - EDP-Sciences UR - http://geodesic.mathdoc.fr/articles/10.1051/ro/2010021/ DO - 10.1051/ro/2010021 LA - en ID - RO_2010__44_4_365_0 ER -
%0 Journal Article %A Bazeille, S. %A Filliat, D. %T Combining odometry and visual loop-closure detection for consistent topo-metrical mapping %J RAIRO - Operations Research - Recherche Opérationnelle %D 2010 %P 365-377 %V 44 %N 4 %I EDP-Sciences %U http://geodesic.mathdoc.fr/articles/10.1051/ro/2010021/ %R 10.1051/ro/2010021 %G en %F RO_2010__44_4_365_0
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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