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基于磁带库的闭环算法的研究

Loop closure algorithm research based on bag-of-words
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摘要 为了解决现在机器人即时定位与闭环检测时的鲁棒性等问题,我们提出了一种基于图片序列的有效特征来检测的方法。利用磁带库加几何检测的方法去实现闭环检测,其中使用了二进制描述符和逆索引的磁带库去进行图片的匹配。 in order to solve the robot now real-time positioning and robustness of the closed-loop detection problem, we put forward a kind of effective feature to detect method based on image sequence. Use bag-of-words with geometry inspection method to realize the closed loop, which USES the binary inverse indexing descriptors and the bag-of-words to image matching.
作者 杨胜飞 曾连荪
机构地区 上海海事大学信息工程学院
出处 《电子设计工程》 2013年第20期191-193,共3页 Electronic Design Engineering
关键词 机器人 字典树 权重 几何检测 SLAM dictionary tree weight geometric detection
分类号 TN709 [电子电信—电路与系统]
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  • 1Cummins M, Newman P. Probabilistic appearance based navigation and loop closing. In: Proceedings of the IEEE In- ternational Conference on Robotics and Automation. Rome, Italy: IEEE, 2007. 2042-2048.
  • 2Bazeille S, Filliat D. Combining odometry and visual loop- closure detection for consistent topo-metrical mapping. RAIRO Operations Research, 2010, 44(4): 365-377.
  • 3Angeli A, Filliat D, Doncieux S, Meyer J A. Fast and in- cremental method for loop-closure detection using bags of visual words. IEEE Transactions on Robotics, 2008, 24(5): 1027-1037.
  • 4Cummins M, Newman P. FAB-MAP: probabilistic localiza- tion and mapping in the space of appearance. The Interna- tional Journal of Robotics Research, 2008, 27(6): 647-665.
  • 5Ho K L, Newman P. Loop closure detection in SLAM by combining visual and spatial appearance. Robotics and Au- tonomous Systems, 2006, 54(9): 740-749.
  • 6Callmer J, Granstrm K, Nieto J, Ramos F. Tree of words for visual loop closure detection in urban SLAM. In: Pro- ceedings of the Australasian Conference on Robotics and Automation. Canberra, Australia. 2008. 1-8.
  • 7Williams B, Cummins M, Neira J, Newman P, Reid I, Tar- dos J. An image-to-map loop closing method for monocu- lar SLAM. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems. Nice, France: IEEE, 2008. 2053-2059.
  • 8Ho K L, Newman P. Detecting loop closure with scene se- quences. International Journal of Computer Vision, 2007, 74(3): 261-286.
  • 9Kim J, Kweon I S. Robust feature matching for loop closing and localization. In: Proceedings of the IEEE/RSJ Interna- tional Conference on Intelligent Robots and Systems. San Diego, USA: IEEE, 2007. 3905-3910.
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电子设计工程
2013年 第20期

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