Presentado al IROS/2007 celebrado en San Diego (USA). ; This paper shows results on outdoor vision-based loop closing for Simultaneous Localization and Mapping. Our experiments show that for loops of over 50m, the pose estimates maintained with a Delayed-State Extended Information Filter are consistent enough to guarantee assertion of vision-based pose constraints for loop closure, provided no necessary information links are added to the estimator. The technique computes relative pose constraints via a robust least squares minimization of 3D point correspondences, which are in turn obtained from the matching of SIFT features over candidate image pairs. We propose a loop closure test that checks both for closeness of means and for highly informative updates at the same time. ; This work was supported by projects: 'Planificador de trayectorias para sistemas robotizados de arquitectura arbitraria' (J-00930), 'Integration of robust perception, learning, and navigation systems in mobile robotics' (J-0929), 'Ubiquitous networking robotics in urban settings' (E-00938). ; This research is supported by the Spanish Ministry of Education and Science under a Juan de la Cierva Postdoctoral Fellowship to V. Ila in project DPI 2004-07358, and a Ramón y Cajal Postdoctoral Fellowship to J. Andrade-Cetto, by a scholarship from the Mexican Council of Science and Technology to R. Valencia, the NAVROB Project DPI 2004-5414, and the EU URUS project FP6-IST-045062. ; Peer Reviewed
Vision-based loop closing for delayed state robot mapping
2007-01-01
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
DDC: | 629 |
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