로봇학회논문지 (The Journal of Korea Robotics Society)

  • 제7권2호
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  • Pages.120-128
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  • 2012
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  • 1975-6291(pISSN)
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  • 2287-3961(eISSN)
한국로봇학회 (Korea Robotics Society)
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직선기반 SLAM에서의 루프결합

Loop Closure in a Line-based SLAM

  • 장국현 (한양대학교 전자컴퓨터통신공학과) ;
  • 서일홍 (한양대학교 공과대학)
  • 투고 : 2012.03.06
  • 심사 : 2012.04.20
  • 발행 : 2012.05.31
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초록

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.

키워드

참고문헌

  1. A. Angeli, D. Filliat, S. Doncieux, and J.-A. Meyer, "Fast and incremental method for loop-closure detection using bags of visual words", IEEE Transactions on Robotics, 24(5):1027-1037, 2008. https://doi.org/10.1109/TRO.2008.2004514
  2. M. Cummins and P. Newman, "Highly scalable appearance-only SLAM - FAB-MAP 2.0", In Proceedings of Robotics: Science and Systems (RSS), 2009.
  3. P. Smith, I. Reid, and A. Davison, "Real-time monocular SLAM with straight lines," in British Machine Vision Conference, vol. 1, pp. 17-26, 2006.
  4. A. P. Gee, W. Mayol-Cuevas, "Real-Time Model-Based SLAM Using Line Segments," in 2nd International Symposium on Visual Computing, November 2006.
  5. T. Lemaire and S. Lacroix, "Monocular-vision based SLAM using line segments," in Proc. of IEEE International Conference on Robotics and Automation, Rome, Italy, pp. 2791-2796, 2007.
  6. J. Solà and T. Vidal-Calleja and M. Devy, "Undelayed initialization of line segments in monocular SLAM", in Proc. of The IEEE/RSJ International Conference on Intelligent Robots and Systems, October 11-15, St. Louis, USA, 2009.
  7. M. Bosse, R. Rikoski, J. Leonard, and S. Teller, "Vanishing Points and 3D Lines from Omnidirectional Video", in Proc. of IEEE Intl Conf. Image Processing, 2002.
  8. Y. H. Lee, C. Nam, K. Y. Lee, Y. S. Li, S. Y. Yeon, and N. L. Doh. "VPass: Algorithmic Compass using Vanishing Points in Indoor Environments", in Proc. Of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 2009.
  9. Y. B. Park, S. S. Kim and I. H. Suh, "Visual Recognition of Types of Structural Corridor Landmarks Using Vanishing Points Detection and Hidden Markov Models", in Proc. of the International Conference on Pattern Recognition, Istanbul, Turkey, 2010.
  10. G. Zhang, I. H. Suh, "A Vertical and Floor Line-based Monocular SLAM System for Corridor Environments", Accepted for the International Journal of Control, Automation, and Systems, Vol 10, No 3, June 2012.
  11. J. Civera and A. Davison and J. Montiel, "Inverse depth parametrization for monocular SLAM", IEEE Transactions on Robotics, vol. 24, no. 5, 2008.
  12. G. Zhang, I. H. Suh, "Building a Partial 3D Line-based Map using a Monocular SLAM", in Proc. of The IEEE International Conference on Robotics and Automation, Shanghai, China, 2011.
  13. G. Zhang, I. H. Suh, "SoF-SLAM: Segments-on-Floor-based Monocular SLAM," in Proc. of The IEEE/RSJ International Conference on Intelligent Robots and Systems, Taiwan, 2010.
  14. R. I. Hartley and A. Zisserman, Multiple View Geometry in Computer Vision, Cambridge University Press, 2nd Edition, pp. 213, 2004.
  15. G. Zhang, D. H. Kang, and I. H. Suh, "Loop Closure Through Vanishing Points in a Line-based Monocular SLAM," Accepted for The IEEE International Conference on Robotics and Automation, 2012.
  16. H. Durrant-Whyte, T. Bailey, "Simultaneous localization and mapping: Part I", IEEE Robotics & Automation Magazine, vol. 13, no. 2, pp. 99-110, Jun. 2006.
  17. P. V. C. Hough, "Method and Means for Recognizing Complex Patterns," U.S. Patent 3,069,654, 1962.

피인용 문헌

  1. 천장 영상지도 기반의 전역 위치추정 vol.9, pp.3, 2012, https://doi.org/10.7746/jkros.2014.9.3.170
  2. 국소 집단 최적화 기법을 적용한 비정형 해저면 환경에서의 비주얼 SLAM vol.9, pp.4, 2012, https://doi.org/10.7746/jkros.2014.9.4.197
  3. SLAM으로 작성한 지도 품질의 상대적/정량적 비교를 위한 방법 제안 vol.9, pp.4, 2012, https://doi.org/10.7746/jkros.2014.9.4.242
  4. 프로젝트 탱고 기반의 증강현실 전시 콘텐츠 구현 vol.21, pp.12, 2012, https://doi.org/10.6109/jkiice.2017.21.12.2312