Combining Visual and Spatial Appearance for Loop Closure Detection in SLAM
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چکیده
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 should be. Paradoxically, it is hardest in the presence of substantial errors in vehicle pose estimates which is exactly when it is needed most. The contribution of this paper is to show how a principled and robust description of local spatial appearance (using laser rangefinder data) can be combined with a purely camera based system to produce superior performance. Individual spatial components (segments) of the local structure are described using a rotationally invariant shape descriptor and salient aspects thereof, and entropy as measure of their innate complexity. Comparisons between scenes are made using relative entropy and by examining the mutual arrangement of groups of segments. We show the inclusion of spatial information allows the resolution of ambiguities stemming from repetitive visual artifacts in urban settings. Importantly the method we present is entirely independent of the navigation and or mapping process and so is entirely unaffected by gross errors in pose estimation.
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تاریخ انتشار 2005