Visual topological SLAM and global localization
Visual topological SLAM and global localization
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DOI：
10.1109/robot.2009.5152501
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发表时间：
2009-05
期刊：
影响因子：
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通讯作者：
Adrien Angeli;S. Doncieux;Jean-Arcady Meyer;David Filliat
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文献类型：
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作者：
Adrien Angeli;S. Doncieux;Jean-Arcady Meyer;David Filliat
移动机器人的视觉定位和地图绘制已经通过多种方法实现。其中，使用视觉的拓扑导航的优点是提供可扩展的表示，并且依赖于通用且经济实惠的传感器。在之前的工作中，我们开发了这样一种增量实时拓扑映射和定位解决方案，不使用任何度量信息，而是依靠贝叶斯视觉闭环检测算法。在本文中，我们提出了这项工作的扩展，将机器人里程计的度量信息集成到拓扑图中，以获得全局一致的环境模型。此外，我们还展示了我们的系统在全局定位任务中的性能，其中机器人必须确定其在预先获取的地图中的位置。
Visual localization and mapping for mobile robots has been achieved with a large variety of methods. Among them, topological navigation using vision has the advantage of offering a scalable representation, and of relying on a common and affordable sensor. In previous work, we developed such an incremental and real-time topological mapping and localization solution, without using any metrical information, and by relying on a Bayesian visual loop-closure detection algorithm. In this paper, we propose an extension of this work by integrating metrical information from robot odometry in the topological map, so as to obtain a globally consistent environment model. Also, we demonstrate the performance of our system on the global localization task, where the robot has to determine its position in a map acquired beforehand.