Abstract
This paper mainly studies a loop closing detection method based on visual SLAM. We used RGB-D image as data source. The main idea is to construct a word bag based on DBoW3. Using rBRIEF makes it possible to perform feature extraction after the image is rotated. And added the elimination of mis-match links to improve the accuracy of detection. In order to ensure the reliability of the loop closing test results, the matching image is also verified. RGB-D image is rich in information and can synchronously extract the depth and color information of the main objects in the scene. The depth information directly reflects the distance information of each object in the scene.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
J. Sivic, A. Zisserman, Video google: a text retrieval approach to object matching in videos, in 2003 IEEE International Conference on Computer Vision, vol. 2 (Nice, France, 2003), p. 1470
P. Newman, K. Ho, SLAM-loop closing with visually salient features, in Proceedings of the 2005 IEEE International Conference on Robotics and Automation (Washington, America, 2005), pp. 635–642
D. Nister, H. Stewenius, Scalable recognition with a vocabulary tree, in IEEE Computer Society Conference on Computer Vision and Pattern Recognition (New York, America, 2006), pp. 2161–2168
A. Angeli, D. Filliat, Fast and incremental method for loop-closure detection using bags of visual words. IEEE Trans. Rob. 24(5), 1027–1037 (2008)
C. Cadena, D. Galvez-Lopez, Robust place recognition with stereo cameras, in IEEE/RSJ International Conference on Intelligent Robots and Systems, vol. 25, no. 1 (Taipei, Taiwan 2010), pp. 5182–5189
Y. Liu, H. Zhang, Visual loop closure detection with a compact image descriptor, in 2012 IEEE/RSJ International Conference on Intelligent Robots & Systems, vol. 57, no. 1 (Vilamoura, Algarve, 2012), pp. 1051–1056
M. Cummins, P. Newman, Probabilistic appearance based navigation and loop closing, in IEEE International Conference on Robots & Automation (Roma, Italy, 2007), pp. 2042–2048
M. Cummins, P. Newman, Appearance-only SLAM at large scale with FAB-MAP 2.0. Int. J. Robot. Res. 30(9), 1100–1123 (2011)
S. Tully, G. Kantor, A unified bayesian framework for global localization and SLAM in hybrid metric topological maps. Int. J. Robot. Res. 31(31), 271–288 (2012)
F.M. Campos, L. Correia, Mobile robot global localization with non-quantized SIFT features, in IEEE 15th International Conference on Advanced Robotics: New Boundaries for Robotics (Tallin, 2011), pp. 582–587
R. Mur-Artal, J.D. Tardos, ORB-SLAM2: an open-source system for monocular, stereo, and RGB-D cameras. IEEE Trans. Rob. PP(99), 1–8 (2016)
C. Kerl, J. Sturm, Dense visual SLAM for RGB-D cameras, in 2014 IEEE/RSJ International Conference on Intelligent Robots & Systems, vol. 8215, no. 2 (Chicago, America, 2014), pp. 2100–2106
Y. Latif, C. Cadena, Robust loop closing over time for pose graph SLAM. Int. J. Rob. Res. 32(14), 1611–1626 (2013)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Singapore Pte Ltd.
About this paper
Cite this paper
Mo, H., Wang, K., Wang, H., Ding, W. (2019). Research on Loop Closing for SLAM Based on RGB-D Images. In: Jia, Y., Du, J., Zhang, W. (eds) Proceedings of 2018 Chinese Intelligent Systems Conference. Lecture Notes in Electrical Engineering, vol 528. Springer, Singapore. https://doi.org/10.1007/978-981-13-2288-4_70
Download citation
DOI: https://doi.org/10.1007/978-981-13-2288-4_70
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-13-2287-7
Online ISBN: 978-981-13-2288-4
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)