A comparison of loop closing techniques in monocular SLAM

Authors:
Brian Williams;Mark Cummins;José Neira;Paul Newman;Ian Reid;Juan Tardós
Affiliations:
Department of Engineering Science, University of Oxford, United Kingdom;Department of Engineering Science, University of Oxford, United Kingdom;Department of Informática e Ingeniería de Sistemas, Universidad de Zaragoza, Spain;Department of Engineering Science, University of Oxford, United Kingdom;Department of Engineering Science, University of Oxford, United Kingdom;Department of Informática e Ingeniería de Sistemas, Universidad de Zaragoza, Spain
Venue:
Robotics and Autonomous Systems
Year:
2009

Citing 9
Cited 10

Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography

Communications of the ACM
Multiple View Geometry in Computer Vision

Multiple View Geometry in Computer Vision
Real-Time Simultaneous Localisation and Mapping with a Single Camera

ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
Video Google: A Text Retrieval Approach to Object Matching in Videos

ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
Keypoint Recognition Using Randomized Trees

IEEE Transactions on Pattern Analysis and Machine Intelligence
MonoSLAM: Real-Time Single Camera SLAM

IEEE Transactions on Pattern Analysis and Machine Intelligence
FAB-MAP: Probabilistic Localization and Mapping in the Space of Appearance

International Journal of Robotics Research
SURF: speeded up robust features

ECCV'06 Proceedings of the 9th European conference on Computer Vision - Volume Part I
Hierarchical SLAM: Real-Time Accurate Mapping of Large Environments

IEEE Transactions on Robotics

Loop-closing: A typicality approach

Robotics and Autonomous Systems
LESS-mapping: Online environment segmentation based on spectral mapping

Robotics and Autonomous Systems
Improving odometry using a controlled point laser

Autonomous Robots
Mobile robot map building from time-of-flight camera

Expert Systems with Applications: An International Journal
Cooperative SLAM using M-Space representation of linear features

Robotics and Autonomous Systems
Error growth in position estimation from noisy relative pose measurements

Robotics and Autonomous Systems
A novel loop closure detection method in monocular SLAM

Intelligent Service Robotics
Dense scene reconstruction with points of interest

ACM Transactions on Graphics (TOG) - SIGGRAPH 2013 Conference Proceedings
Indoor localization using SLAM in parallel with a natural marker detector

Proceedings of the 28th Annual ACM Symposium on Applied Computing
Long-term mapping and localization using feature stability histograms

Robotics and Autonomous Systems

Quantified Score

Hi-index	0.01

Visualization

Abstract

Loop closure detection systems for monocular SLAM come in three broad categories: (i) map-to-map, (ii) image-to-image and (iii) image-to-map. In this paper, we have chosen an implementation of each and performed experiments allowing the three approaches to be compared. The sequences used include both indoor and outdoor environments and single and multiple loop trajectories.