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Tree of Words for Visual Loop Closure Detection in Urban SLAM
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.ORCID iD: 0000-0002-3450-988X
University of Sydney, Australia.
University of Sydney, Australia.
2008 (English)In: Proceedings of the '08 Australasian Conference on Robotics and Automation, 2008, 102- p.Conference paper, Published paper (Refereed)
Abstract [en]

This paper introduces vision based loop closure detection in Simultaneous Localisation And Mapping (SLAM) using Tree of Words. The loop closure performance in a complex urban environment is examined and an additional feature is suggested for safer matching. A SLAM ground experiment in an urban area is performed using Tree of Words, a delayed state information filter and planar laser scans for relative pose estimation. Results show that a good map estimation using our vision based loop closure detection can be obtained in near real, yet constant, time. It is shown that an odometry supported recall rate of almost 70% can be obtained with a false detection rate of about 0.01%.

Place, publisher, year, edition, pages
2008. 102- p.
Keyword [en]
Tree of words, Simultaneous localisation and mapping
National Category
Engineering and Technology Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-44676Local ID: 77269ISBN: 978-0-646-50643-2 (print)OAI: oai:DiVA.org:liu-44676DiVA: diva2:265538
Conference
'08 Australasian Conference on Robotics and Automation, Canberra, Australia, December, 2008
Available from: 2009-10-10 Created: 2009-10-10 Last updated: 2014-03-27

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Callmer, JonasGranström, Karl

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Language
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  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
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Output format
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  • asciidoc
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