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Original Loop-Closure Detection Algorithm for Monocular vSLAM

  • Andrey BokovoyEmail author
  • Konstantin Yakovlev
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 10716)

Abstract

Vision-based simultaneous localization and mapping (vSLAM) is a well-established problem in mobile robotics and monocular vSLAM is one of the most challenging variations of that problem nowadays. In this work we study one of the core post-processing optimization mechanisms in vSLAM, e.g. loop-closure detection. We analyze the existing methods and propose original algorithm for loop-closure detection, which is suitable for dense, semi-dense and feature-based vSLAM methods. We evaluate the algorithm experimentally and show that it contribute to more accurate mapping while speeding up the monocular vSLAM pipeline to the extent the latter can be used in real-time for controlling small multi-rotor vehicle (drone).

Keywords

Loop-closure Vision-based localization and mapping Unmanned aerial vehicle SLAM vSLAM 

Notes

Acknowledgment

This research was supported by Russian Foundation for Basic Research. Grant 15-07-07483.

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Copyright information

© Springer International Publishing AG 2018

Authors and Affiliations

  1. 1.Peoples’ Friendship University of Russia (RUDN University)MoscowRussia
  2. 2.Higher School of EconomicsMoscowRussia
  3. 3.Institute for Systems Analysis of Federal Research Centre “Computer Science and Control” of Russian Academy of SciencesMoscowRussia

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