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Proceedings Paper

Hierarchical loop detection for mobile outdoor robots
Author(s): Dagmar Lang; Christian Winkens; Marcel Häselich; Dietrich Paulus
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Paper Abstract

Loop closing is a fundamental part of 3D simultaneous localization and mapping (SLAM) that can greatly enhance the quality of long-term mapping. It is essential for the creation of globally consistent maps. Conceptually, loop closing is divided into detection and optimization. Recent approaches depend on a single sensor to recognize previously visited places in the loop detection stage. In this study, we combine data of multiple sensors such as GPS, vision, and laser range data to enhance detection results in repetitively changing environments that are not sufficiently explained by a single sensor. We present a fast and robust hierarchical loop detection algorithm for outdoor robots to achieve a reliable environment representation even if one or more sensors fail.

Paper Details

Date Published: 23 January 2012
PDF: 11 pages
Proc. SPIE 8301, Intelligent Robots and Computer Vision XXIX: Algorithms and Techniques, 83010P (23 January 2012); doi: 10.1117/12.908277
Show Author Affiliations
Dagmar Lang, Univ. Koblenz-Landau (Germany)
Christian Winkens, Univ. Koblenz-Landau (Germany)
Marcel Häselich, Univ. Koblenz-Landau (Germany)
Dietrich Paulus, Univ. Koblenz-Landau (Germany)

Published in SPIE Proceedings Vol. 8301:
Intelligent Robots and Computer Vision XXIX: Algorithms and Techniques
Juha Röning; David P. Casasent, Editor(s)

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