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http://dx.doi.org/10.7746/jkros.2012.7.2.120

Loop Closure in a Line-based SLAM  

Zhang, Guoxuan (한양대학교 전자컴퓨터통신공학과)
Suh, Il-Hong (한양대학교 공과대학)
Publication Information
The Journal of Korea Robotics Society / v.7, no.2, 2012 , pp. 120-128 More about this Journal
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
Vertical Line; Floor Line; Anchored Vanishing Point; Loop Closure; EKF;
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Times Cited By KSCI : 1  (Citation Analysis)
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