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Combining Odometry and Visual Loop-Closure Detection for Consistent Topo-Metrical Mapping

Published online by Cambridge University Press:  11 January 2011

S. Bazeille  and
D. Filliat
S. Bazeille
Affiliation:
ENSTA ParisTech, Unité Électronique et Informatique – 32 Boulevard Victor, 75015 Paris, France. stephane.bazeille@ensta.fr; david.filliat@ensta.fr
D. Filliat
Affiliation:
ENSTA ParisTech, Unité Électronique et Informatique – 32 Boulevard Victor, 75015 Paris, France. stephane.bazeille@ensta.fr; david.filliat@ensta.fr
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Abstract

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 SLAM24 (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

SLAMmonocular visionodometrymobile robottopo-metrical map
Type
Research Article
Information
RAIRO - Operations Research , Volume 44 , Issue 4: COGIS'09 , October 2010 , pp. 365 - 377
Copyright
© EDP Sciences, ROADEF, SMAI, 2011

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