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
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;
Conference_Titel :
Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on
Conference_Location :
Nice
Print_ISBN :
978-1-4244-2057-5
DOI :
10.1109/IROS.2008.4650996
