DocumentCode
3095341
Title
An image-to-map loop closing method for monocular SLAM
Author
Williams, Brian ; Cummins, Mark ; Neira, José ; Newman, Paul ; Reid, Ian ; Tardós, Juan
Author_Institution
Univ. of Oxford, Oxford
fYear
2008
fDate
22-26 Sept. 2008
Firstpage
2053
Lastpage
2059
Abstract
In this paper we present a loop closure method for a handheld single-camera SLAM system based on our previous work on relocalization. By finding correspondences between the current image and the map, our system is able to reliably detect loop closures. We compare our algorithm to existing techniques for loop closure in single-camera SLAM based on both image-to-image and map-to-map correspondences and discuss both the reliability and suitability of each algorithm in the context of monocular SLAM.
Keywords
SLAM (robots); robot vision; handheld single-camera; image-to-image correspondence; image-to-map loop closing; loop closure; map-to-map correspondence; monocular SLAM system; relocalisation; Cameras; Classification algorithms; Feature extraction; Reliability; Robot vision systems; Robots; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on
Conference_Location
Nice
Print_ISBN
978-1-4244-2057-5
Type
conf
DOI
10.1109/IROS.2008.4650996
Filename
4650996
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