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题名:
Laser-based Online Sliding-window Approach for UAV Loop-closure Detection in Urban Environments
作者: Wang, Anqing; Li, Chi; Liu, Yisha; Zhuang Y(庄严); Bu CG(卜春光); Xiao JZ(肖继忠)
作者部门: 机器人学研究室
通讯作者: 庄严
关键词: Loop-closure Detection ; 3-D Laser Point Cloud ; Unmanned Aerial Vehicles (UAVs)
刊名: INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
ISSN号: 1729-8806
出版日期: 2016
卷号: 13, 页码:1-11
收录类别: SCI ; EI
EI收录号: 20165003120185
WOS记录号: WOS:000374338300001
产权排序: 3
项目资助者: National Natural Science Foundation of China [61305128, 61375088] ; State Key Laboratory of Robotics [2013-O07]
摘要: Online loop-closure detection serves as an essential task for Unmanned Aerial Vehicles (UAVs) equipped with laser scanners. Due to the inherent errors in UAVs' pose estimation, a 3-D reconstruction algorithm is adopted to perform 3-D map building, which establishes probabilistic models of the system according to the assumption of errors. To meet the demand of online loop-closure detection using sequential 2-D laser data, a robust ISW-NDT (incremental sliding-window-based NDT) approach is proposed, which compares the appearance similarity between two scans by sliding a window with fixed size. Compared with the conventional 3-D NDT approach, the proposed loop-closure detection algorithm is capable of providing superior performance in large-scale outdoor environments, achieving higher recall rate at 100% precision and ensuring successful online implementation. Experimental results show the validity and robustness of the proposed method.
语种: 英语
WOS标题词: Science & Technology ; Technology
类目[WOS]: Robotics
关键词[WOS]: FAB-MAP ; APPEARANCE ; SLAM
研究领域[WOS]: Robotics
Citation statistics:
内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/18637
Appears in Collections:机器人学研究室_期刊论文

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作者单位: 1.School of Control Science and Engineering, Dalian University of Technology, Dalian, China
2.Information Science and Technology College, Dalian Maritime University, Dalian, China
3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, China
4.Department of Electrical Engineering, City College, City University of New York, United States

Recommended Citation:
Wang, Anqing,Li, Chi,Liu, Yisha,et al. Laser-based Online Sliding-window Approach for UAV Loop-closure Detection in Urban Environments[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2016,13:1-11.
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文件名: Laser-based Online Sliding-window Approach for UAV Loop-closure Detection in Urban Environments.pdf
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