Hierarchical loop detection for mobile outdoor robots

Dagmar Lang; Christian Winkens; Marcel Häselich; Dietrich Paulus

doi:10.1117/12.908277

23 January 2012 Hierarchical loop detection for mobile outdoor robots

Dagmar Lang, Christian Winkens, Marcel Häselich, Dietrich Paulus

Proceedings Volume 8301, Intelligent Robots and Computer Vision XXIX: Algorithms and Techniques; 83010P (2012) https://doi.org/10.1117/12.908277
Event: IS&T/SPIE Electronic Imaging, 2012, Burlingame, California, United States

Abstract

Loop closing is a fundamental part of 3D simultaneous localization and mapping (SLAM) that can greatly enhance the quality of long-term mapping. It is essential for the creation of globally consistent maps. Conceptually, loop closing is divided into detection and optimization. Recent approaches depend on a single sensor to recognize previously visited places in the loop detection stage. In this study, we combine data of multiple sensors such as GPS, vision, and laser range data to enhance detection results in repetitively changing environments that are not sufficiently explained by a single sensor. We present a fast and robust hierarchical loop detection algorithm for outdoor robots to achieve a reliable environment representation even if one or more sensors fail.

Citation Download Citation

Dagmar Lang, Christian Winkens, Marcel Häselich, and Dietrich Paulus "Hierarchical loop detection for mobile outdoor robots", Proc. SPIE 8301, Intelligent Robots and Computer Vision XXIX: Algorithms and Techniques, 83010P (23 January 2012); https://doi.org/10.1117/12.908277

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