Appearance-based loop detection from 3D laser data using the normal distributions transform

Authors:
Martin Magnusson;Henrik Andreasson;Andreas Nüchter;Achim J. Lilienthal
Affiliations:
AASS, Örebro University, Sweden;AASS, Örebro University, Sweden;Jacobs University Bremen, Bremen, Germany;AASS, Örebro University, Sweden
Venue:
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Year:
2009

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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.