An active visual loop closure detection and validation system for topological SLAM
An active visual loop closure detection and validation system for topological SLAM
复制标题
拓扑 SLAM 的主动视觉闭环检测和验证系统
DOI：
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发表时间：
2010
期刊：
影响因子：
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通讯作者：
R. Jarvis
中科院分区：
文献类型：
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作者：
W. Lui;R. Jarvis
闭环是移动的机器人导航的一个重要组成部分，没有先验的环境信息，因为移动的机器人探索，建立，并在同一时间保持一个全球一致的地图。此外，它允许移动的机器人从位置漂移中恢复，所述位置漂移是由于一旦执行环路闭合就与传感器测量相关联的误差。提出了一种基于视觉的全自主移动的机器人拓扑SLAM主动闭环检测与验证系统。它将基于外观的地图和定位系统与路径规划器集成在一起，以实现主动闭环系统。该系统不仅检测环路闭合，而且通过利用与路径规划器的紧密集成来主动验证环路闭合。在半室外环境下进行的实验结果验证了所提出的系统。
Loop closing is a vital component for mobile robot navigation without a priori information of the environment, since the mobile robot has to explore, build and at the same time maintain a globally consistent map. Moreover, it allows the mobile robot to recover from positional drifts due to errors associated with sensor measurements once loop closing is performed. In this paper, an active loop closing detection and validation system for a fully autonomous vision-based mobile robot performing topological SLAM is presented. It integrates an appearance-based mapping and localization system with the path planner to achieve an active loop closing system. This system does not only detect loop closures but actively validates them by taking advantage of the tight integration with the path planner. Experimental results conducted in a semi-outdoor environment validate the proposed system.