Title :
Appearance-based loop detection from 3D laser data using the normal distributions transform
Author :
Magnusson, Martin ; Andreasson, Henrik ; Nüchter, Andreas ; Lilienthal, Achim J.
Author_Institution :
AASS, Orebro Univ., Orebro, Sweden
Abstract :
We propose a new approach to appearance based loop detection from metric 3D maps, exploiting the NDT surface representation. Locations are described with feature histograms based on surface orientation and smoothness, and loop closure can be detected by matching feature histograms. We also present a quantitative performance evaluation using two real-world data sets, showing that the proposed method works well in different environments.
Keywords :
SLAM (robots); laser ranging; normal distribution; robot vision; 3D laser data; appearance based loop detection; appearance-based loop detection; feature histogram matching; feature histograms; loop closure; metric 3D maps; normal distributions transform; quantitative performance evaluation; surface orientation; surface representation; Clouds; Covariance matrix; Eigenvalues and eigenfunctions; Face detection; Gaussian distribution; Histograms; Relaxation methods; Shape; Simultaneous localization and mapping; Tellurium;
Conference_Titel :
Robotics and Automation, 2009. ICRA '09. IEEE International Conference on
Conference_Location :
Kobe
Print_ISBN :
978-1-4244-2788-8
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2009.5152712