The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Loop Closure in a Line-based SLAM

직선기반 SLAM에서의 루프결합

  • 장국현 (한양대학교 전자컴퓨터통신공학과) ;
  • 서일홍 (한양대학교 공과대학)
  • Received : 2012.03.06
  • Accepted : 2012.04.20
  • Published : 2012.05.31
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Abstract

The loop closure problem is one of the most challenging issues in the vision-based simultaneous localization and mapping community. It requires the robot to recognize a previously visited place from current camera measurements. While the loop closure often relies on visual bag-of-words based on point features in the previous works, however, in this paper we propose a line-based method to solve the loop closure in the corridor environments. We used both the floor line and the anchored vanishing point as the loop closing feature, and a two-step loop closure algorithm was devised to detect a known place and perform the global pose correction. We propose an anchored vanishing point as a novel loop closure feature, as it includes position information and represents the vanishing points in bi-direction. In our system, the accumulated heading error is reduced using an observation of a previously registered anchored vanishing points firstly, and the observation of known floor lines allows for further pose correction. Experimental results show that our method is very efficient in a structured indoor environment as a suitable loop closure solution.

Keywords

References

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