A comparison of loop closing techniques in monocular SLAM

被引：322

作者：

Williams, Brian ^{[1
]}

Cummins, Mark ^{[2
]}

Neira, Jose ^{[3
]}

Newman, Paul ^{[2
]}

Reid, Ian ^{[1
]}

Tardos, Juan ^{[3
]}

机构：

[1] Univ Oxford, Dept Engn Sci, Act Vis Grp, Oxford OX1 2JD, England

[2] Univ Oxford, Dept Engn Sci, Mobile Robot Grp, Oxford OX1 2JD, England

[3] Univ Zaragoza, Dept Informat & Ingn Sistemas, Zaragoza, Spain

来源：

ROBOTICS AND AUTONOMOUS SYSTEMS | 2009年 / 57卷 / 12期

基金：

英国工程与自然科学研究理事会;

关键词：

Loop closing; Monocular SLAM; Submapping; LOCALIZATION; MAP;

D O I：

10.1016/j.robot.2009.06.010

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

080201 [机械制造及其自动化];

摘要：

Loop closure detection systems for monocular SLAM come in three broad categories: (i) map-to-map, (ii) image-to-image and (iii) image-to-map. In this paper, we have chosen an implementation of each and performed experiments allowing the three approaches to be compared. The sequences used include both indoor and outdoor environments and single and multiple loop trajectories. (C) 2009 Elsevier B.V. All rights reserved.

引用

页码：1188 / 1197

页数：10