Combining Odometry and Visual Loop-Closure Detection for Consistent Topo-Metrical Mapping

Combining Odometry and Visual Loop-Closure Detection for Consistent Topo-Metrical Mapping

We address the problem of simultaneous localization and mapping (SLAM) by combining visual loop-closure detection with metrical information given by a robot odometry. The proposed algorithm extends a purely appearance-based loopclosure detection method based on bags of visual words [1] which is able to detect when the robot has returned back to a previously visited place. An efficient optimizat...

Combining Visual and Spatial Appearance for Loop Closure Detection in SLAM

In this paper we describe a system for use on a mobile robot that detects potential loop closures using both the visual and spatial appearance of the local scene. Loop closing is the act of correctly asserting that a vehicle has returned to a previously visited location. It is an important component in the search to make SLAM (Simultaneous Localization and Mapping) the reliable technology it sh...

Loop closure detection in SLAM by combining visual and spatial appearance

Global image signature for visual loop-closure detection

This work details a new method for loop-closure detection based on using multiple orthogonal projections to generate a global signature for each image of a video sequence. The new multi-projection function permits the detection of images corresponding to the same scene, but taken from different point of views. The signature generation process preserves enough information for robust loop-closure...

Visual Odometry and Mapping in Natural Environments